Robotics Facilitation in Spinal Learning
Lance Cai, Andy Fong, Joel Burdick and V. Reggie Edgerton

Each year, 11,000 Americans suffer spinal cord injury. Victims of severe spinal cord injury may suffer symptoms as severe as paraplegia, quadriplegia, and death. Currently we have no means of restoring locomotor function to patients who have suffered severe neural tissue damage resulting from spinal cord injury. While ideal treatments for such injuries involve regenerating the damaged tissues or developing compensatory neural connections, these options are not yet feasible. For patients who have lost the ability to walk, however, promising studies indicate that properly conducted, systematic motor training may help them walk again. (full report)

Distributed Exploration and Coverage
Nikolaus Correll, Kjerstin Easton, Alcherio Martinoli, and Joel Burdick
Collaborators: Jonathan Witt, Edmond Wong (NASA Glenn Center)

Abstract. The aim of this project is to formulate an efficient exploration and coverage algorithm for a swarm of mobile agents. We present a completely distributed algorithm relying on agents endowed with identical controllers. The controller for the individual agent is realized through a hybrid approach using deliberative planning together with reactive behavior for collision avoidance. To exchange information about task progress the agents exploit a cellular decomposition of the environment. Coverage is performed using a grid-based algorithm (the Spanning Tree Coverage algorithm). Interaction between the agents is constrained to decentralized line-of-sight communication with limited range. The algorithm has been proved regarding completeness and its performance has been systematically investigated using an embodied simulator. (full report)

Neuromechanical Design and Active Sensory Systems in Animals
Malcolm Maciver, Joel Burdick

The field of neuroethology has made tremendous progress in understanding the sensory processing that subserve natural behaviors. Much work remains, however, in obtaining an equally detailed and quantitative understanding of how the mechanics of animals subserve natural behaviors, and in particular, how sensory abilities complement an animal’s mechanical control and locomotory needs and characteristics. In addition to its basic science import, these issues have relevance to engineers seeking to emulate some of key advantages of animal neuromechanical design, such as high maneuverability, and high levels of sensory integration for executing behaviors under changing and uncertain conditions. In this work we study how motion and sensing are integrated in the weakly electric fish. (full report)

Propelling Underwater Vehicles Using Vortex Ring Generation
Ann Marie Polsenberg, Joel Burdick

Abstract. As robots designed to operate underwater become more common, it is useful to look at ways to make them more efficient. Autonomous Underwater Vehicles (AUVs) carry their power source with them, so improving the efficiency of the vehicle will also increase the maximum duration time for missions that the vehicle can perform. One area in which efficiency is very important is the propulsion system. We propose that vortex ring generators may be a viable way to propel these vehicles. This idea stems from looking at aquatic animals, such as squid, which use this mechanism. Our work involves the modeling, design, construction and analysis of synthetic jets. The next step will be to design a small vehicle that uses these thrusters and to begin an investigation into the control of such a vehicle. (full report)