WorldCat Identities

Hutchinson, Seth

Overview
Works: 23 works in 42 publications in 2 languages and 1,434 library holdings
Genres: Juvenile works  Picture books  Illustrated works  Conference papers and proceedings 
Roles: Author
Publication Timeline
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Most widely held works by Seth Hutchinson
Robot modeling and control by Mark W Spong( Book )

17 editions published between 2005 and 2016 in English and Chinese and held by 402 WorldCat member libraries worldwide

The field of robotics is rapidly expanding with renewed interest in industrial and commercial applications such as robot vacuums and space explorers. Incorporating the current state of research and development, this unique book arms readers with a broad understanding of the fundamentals. It provides them with in-depth information on such areas as velocity kinematics, path and trajectory planning, independent joint control, forced control, and vision-based control
Animal robots by Erika L Shores( Book )

1 edition published in 2014 in English and held by 313 WorldCat member libraries worldwide

Animal robots include everything from a pet dinosaur to a buzzing hummingbird to a floating jellyfish. Find out just what these awesome machines can do
Tiny robots by Kathryn Clay( Book )

1 edition published in 2014 in English and held by 241 WorldCat member libraries worldwide

Tiny robots include everything from a wall climbing microbot to a nanobot that goes inside the human body. Find out just what these awesome machines can do
Robots on the job by Kathryn Clay( Book )

1 edition published in 2014 in English and held by 229 WorldCat member libraries worldwide

Robots build cars in factories, perform surgeries in hospitals, and take pictures while flying overhead. Find out just what these awesome machines can do
Robots in space by Kathryn Clay( Book )

1 edition published in 2014 in English and held by 220 WorldCat member libraries worldwide

Space robots orbit Earth, work inside the space station, and explore Mars. Find out just what these awesome machines can do
Algorithmic foundations of robotics V by J.-D Boissonnat( )

2 editions published between 2003 and 2004 in English and held by 8 WorldCat member libraries worldwide

This book includes selected contributions from the Workshop WAFR 2002 held from December 15-17, 2002 in Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection
Principles of robot motion : theory, algorithms, and implementation by Howie M Choset( )

3 editions published in 2005 in English and held by 5 WorldCat member libraries worldwide

A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts
Stability analysis and control for bipedal locomotion using energy methods by Jae-Sung Moon( )

1 edition published in 2011 in English and held by 2 WorldCat member libraries worldwide

In this thesis, we investigate the stability of limit cycles of passive dynamic walking. The formation process of the limit cycles is approached from the view of energy interaction. We introduce for the first time the notion of the energy portrait analysis originated from the phase portrait. The energy plane is spanned by the total energy of the system and its derivative, and different energy trajectories represent the energy portrait in the plane. One of the advantages of this method is that the stability of the limit cycles can be easily shown in a 2D plane regardless of the dimension of the system. The energy portrait of passive dynamic walking reveals that the limit cycles are formed by the interaction between energy loss and energy gain during each cycle, and they are equal at equilibria in the energy plane. In addition, the energy portrait is exploited to examine the existence of semi-passive limit cycles generated using the energy supply only at the take-off phase. It is shown that the energy interaction at the ground contact compensates for the energy supply, which makes the total energy invariant yielding limit cycles. This result means that new limit cycles can be generated according to the energy supply without changing the ground slope, and level ground walking, whose energy gain at the contact phase is always zero, can be achieved without actuation during the swing phase. We design multiple switching controllers by virtue of this property to increase the basin of attraction. Multiple limit cycles are linearized using the Poincare map method, and the feedback gains are computed taking into account the robustness and actuator saturation. Once a trajectory diverges from a basin of attraction, we switch the current controller to one that includes the trajectory in its basin of attraction. Numerical simulations confirm that a set of limit cycles can be used to increase the basin of attraction further by switching the controllers one after another. To enhance our knowledge of the limit cycles, we performed sophisticated simulations and found all stable and unstable limit cycles from the various ground slopes not only for the symmetric legs but also for the unequal legs that cause gait asymmetries. As a result, we present a novel classification of the passive limit cycles showing six distinct groups that are consecutive and cyclical
Visual complianc : Task-directed visual servo control by Andres Castano( )

1 edition published in 1994 in English and held by 1 WorldCat member library worldwide

Visual compliance : task-directed visual servo control by Andrés Castaño( Book )

1 edition published in 1993 in English and held by 1 WorldCat member library worldwide

Neuroinspired control strategies with applications to flapping flight by Michael Ray Dorothy( )

1 edition published in 2015 in English and held by 1 WorldCat member library worldwide

This dissertation is centered on a theoretical, simulation, and experimental study of control strategies which are inspired by biological systems. Biological systems, along with sufficiently complicated engineered systems, often have many interacting degrees of freedom and need to excite large-displacement oscillations in order to locomote. Combining these factors can make high-level control design difficult. This thesis revolves around three different levels of abstraction, providing tools for analysis and design. First, we consider central pattern generators (CPGs) to control flapping-flight dynamics. The key idea here is dimensional reduction - we want to convert complicated interactions of many degrees of freedom into a handful of parameters which have intuitive connections to the overall system behavior, leaving the control designer unconcerned with the details of particular motions. A rigorous mathematical and control theoretic framework to design complex three-dimensional wing motions is presented based on phase synchronization of nonlinear oscillators. In particular, we show that flapping-flying dynamics without a tail or traditional aerodynamic control surfaces can be effectively controlled by a reduced set of central pattern generator parameters that generate phase-synchronized or symmetry-breaking oscillatory motions of two main wings. Furthermore, byusing a Hopf bifurcation, we show that tailless aircraft (inspired by bats) alternating between flapping and gliding can be effectively stabilized by smooth wing motions driven by the central pattern generator network. Results of numerical simulation with a full six-degree-of-freedom flight dynamic model validate the effectiveness of the proposed neurobiologically inspired control approach. Further, we present experimental micro aerial vehicle (MAV) research with low-frequency flapping and articulated wing gliding. The importance of phase difference control via an abstract mathematical model of central pattern generators is confirmed with a robotic bat on a 3-DOF pendulum platform. An aerodynamic model for the robotic bat based on the complex wing kinematics is presented. Closed loop experiments show that control dimension reduction is achievable - unstable longitudinal modes are stabilized and controlled using only two control parameters. A transition of flight modes, from flapping to gliding and vice-versa, is demonstrated within the CPG control scheme. The second major thrust is inspired by this idea that mode switching is useful. Many bats and birds adopt a mixed strategy of flapping and gliding to provide agility when necessary and to increase overall efficiency. This work explores dwell time constraints on switched systems with multiple, possibly disparate invariant limit sets. We show that, under suitable conditions, trajectories globally converge to a superset of the limit sets and then remain in a second, larger superset. We show the effectiveness of the dwell-time conditions by using examples of nonlinear switching limit cycles from our work on flapping flight. This level of abstraction has been found to be useful in many ways, but it also produces its own challenges. For example, we discuss death of oscillation which can occur for many limit-cycle controllers and the difficulty in incorporating fast, high-displacement reflex feedback. This leads us to our third major thrust - considering biologically realistic neuron circuits instead of a limit cycle abstraction. Biological neuron circuits are incredibly diverse in practice, giving us a convincing rationale that they can aid us in our quest for flexibility. Nevertheless, that flexibility provides its own challenges. It is not currently known how most biological neuron circuits work, and little work exists that connects the principles of a neuron circuit to the principles of control theory. We begin the process of trying to bridge this gap by considering the simplest of classical controllers, PD control. We propose a simple two-neuron, two-synapse circuit based on the concept that synapses provide attenuation and a delay. We present a simulation-based method of analysis, including a smoothing algorithm, a steady-state response curve, and a system identification procedure for capturing differentiation. There will never be One True Control Method that will solve all problems. Nature's solution to a diversity of systems and situations is equally diverse. This will inspire many strategies and require a multitude of analysis tools. This thesis is my contribution of a few
The Visual–Inertial Canoe Dataset( )

in English and held by 1 WorldCat member library worldwide

We present a dataset collected from a canoe along the Sangamon River in Illinois. The canoe was equipped with a stereo camera, an inertial measurement unit (IMU), and a global positioning system (GPS) device, which provide visual data suitable for stereo or monocular applications, inertial measurements, and position data for ground truth. We recorded a canoe trip up and down the river for 44 minutes covering a 2.7 km round trip. The dataset adds to those previously recorded in unstructured environments and is unique in that it is recorded on a river, which provides its own set of challenges and constraints that are described in this paper. The dataset is stored on the Illinois Data Bank and can be accessed at: https://doi.org/10.13012/B2IDB-9342111_V1
Visual servo control Part I : basic approaches by François Chaumette( )

1 edition published in 2006 in English and held by 1 WorldCat member library worldwide

A framework for real-time path planning in changing environments by Peter Leven( )

1 edition published in 2002 in English and held by 1 WorldCat member library worldwide

Performance tests for visual servo control systems, with application to partitioned approaches to visual servo control by Nicholas R Gans( )

1 edition published in 2003 in English and held by 1 WorldCat member library worldwide

Efficient search and hierarchicla motion planning by dynamically maintaining single-source shortest paths trees by Michael Barbehenn( )

1 edition published in 1995 in English and held by 1 WorldCat member library worldwide

Image feedback based optimal control and the value of information in a differential game( )

1 edition published in 2018 in English and held by 1 WorldCat member library worldwide

Abstract: In this paper, we address pursuit-evasion problems in which the pursuer is a Differential Drive Robot (DDR) that attempts to capture an omnidirectional evader. From the Nash property it follows that if the evader deviates from its maximum potential speed then the capture time shall not increase for a pursuer that does not deviate from its Nash equilibrium motion strategy. However, it is not immediately clear how the pursuer could exploit that evader's deviation from its maximum potential speed, which might correspond to situations where the evader's capabilities may degrade with time, for example, battery depletion in an autonomous vehicle, or fatigue in an animal evader. This can be considered as a scenario of an evader in which the set of admissible controls varies with time. In the present paper we consider such scenario. In our first result, we propose an alternative strategy for the pursuer, which, for certain scenarios, further reduces the capture time compared to the strategy based on the maximum potential evader's speed. In our second result, we show that, under non-anticipative strategies, a pursuer strategy that uses the instantaneous evader speed alone, does not always guarantee to improve the payoff for the pursuer, nor the capture of the evader. Hence, we conclude that the evader's location is the relevant information for the pursuer to know. Later, we present vision-based control laws that implement the optimal pursuer strategy. The optimal pursuer strategy is characterized by a partition of the reduced space (a representation of the game in the pursuer's body-attached coordinate system) in which each region maps to an optimal pursuer action. We consider the case for which the pursuer is equipped with an omnidirectional catadioptric camera. Finally, in our third result we show that the location of the evader on the image can be directly used by the pursuer to define its motion strategy, in spite of the distortion of the state space suffered on the image. That is, the pursuer is able to apply its motion strategy using the image without explicitly reconstructing the evader's position. This approach is computationally efficient, and robust to occlusions and noise in the image
Incremental geometric robot motion planning by University of Illinois at Urbana-Champaign( )

1 edition published in 1996 in English and held by 1 WorldCat member library worldwide

In this thesis we introduce the notion of incremental problems in geometric robot motion planning, and give incremental algorithms to solve these problems efficiently. In particular, we present incremental algorithms to compute an exact cell decomposition of the collision-free portion of the robot configuration space for a line segment robot moving freely in the plane amidst polygonal obstacles. After computing an initial decomposition of the collision-free portion of the robot configuration space, these algorithms maintain that decomposition as obstacles are moved between planning problems. Typically, the cost to maintain the decomposition is much smaller than the cost to construct the initial decomposition. Because of this, the relative cost to perform a global search in the connectivity graph in the decomposition is high. Therefore the all-pairs shortest paths trees in the connectivity graph of the decomposition is incrementally maintained, which facilitates rapid access to solution paths without the need for search. At the heart of the approach is a study of both the geometric and topological changes that occur to the collision-free portion of the robot configuration space when obstacles in the robot's environment are moved. We believe that this study provides insight into the more difficult problems of planning with multiple moving obstacles (outside the control of the robot) and planning with movable objects (that the robot manipulates). In particular, most past methods for these difficult problems use composite configuration spaces, which represent the simultaneous positions of all obstacles that may move. Since geometric robot motion planning is PSPACE-hard, these approaches do not scale. Instead, our approach leads to solutions for these more difficult problems that manipulate the much lower dimensional robot configuration space
Principles of robot motion: theory, algoritms, and implementations by Howie M Choset( Book )

1 edition published in 2005 in English and held by 1 WorldCat member library worldwide

Interconnection networks for a distributed signal processing system : a case study by Howard Jay Siegel( Book )

1 edition published in 1984 in English and held by 1 WorldCat member library worldwide

 
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Robot modeling and control
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