Proyectos

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buscar

In the previous project the research focus was on the sensing principle and the development of prototype modules for a tactile proximity sensor (TPS). In the current project the focus is on the methods and algorithms with which the events in the near proximity of the robots can be modelled by means of these sensors. Collectively, the TPS on the robot surface and gripper constitute a smart skin. The application scenarios here are the Active Exploration of the Environment, Grasping and the Safe Human-Robot-Interaction. The methods to be developed will improve significantly on the quality of state of the art methods and expand the horizon of possible solutions for these problems. The capacitive measuring principle and the spatial resolution in both, the tactile and proximity modalities, enable an area-wide and distance based coverage of the robot surroundings. It is the first time that algorithms for Exploration, Grasping and Safe-Human-Robot-Interaction are presented that rely simultaneously on both tactile and proximity sensing with spatial resolution. The goal of the Exploration is to research which methods and strategies enable the robot to acquire a contact- and proximity-based world-model by means of TPS. The quality of state of the art solutions for grasping should be improved significantly. For the Safe-Human-Robot-Interaction algorithms should be developed that adapt the robots path and velocity according to the current situation as determined by the TPS. Also, new algorithms should make a TPS-based Interaction possible with the goal of robot controlling and programming by the human through tactile and proximity input. Finally, according to the context of the task and situation at hand (Exploration, Manipulation and Interaction) the robot should show an appropriate behaviour which is given by a behavioural strategy that will also be developed. The starting point in the project is the TPS-modules which were successfully developed in the previous project. At the beginning, research will be focused on the algorithms for signal processing that extract robust features from TPS for higher level tasks. This step is followed by the integration of TPS into a robot system realizing the smart skin. Building on these steps the methods for Exploration, Manipulation and Safe-Human-Interaction are developed. Finally, the results of the project will be shown and evaluated in a combined demonstration scenario that includes a robot endowed with TPS.

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Amazonia is Earth's most iconic center of biological diversity and endemism and is among the most important terrestrial biomes due to its contributions to global systems ecology. This project seeks to answer an overarching question in biodiversity science: How was the modern Amazonian biota and its environment assembled across space and time? The research is designed to understand the evolutionary and environmental-ecological history of late Neogene-Recent Amazonia through a comparative approach that integrates across the disciplines of systematics, population biology, ecosystem structure and function, geology, Earth systems modeling and remote sensing, and environmental history. The project also investigates how biotic and environmental change over this time-period influenced Amazonian functional diversity in biogeochemical flows, and how these, in turn, shaped the dimensions of biodiversity seen today as well as the history of global-scale changes in biogeochemical cycling. The project, which is a collaboration with Brazilian scientists and funding agencies, represents the most integrative examination of Amazonian biodiversity and its history to date. The approaches taken describe a methodological template for analyzing information about the history of biotic and environmental change across large, ecologically complex landscapes that can be generalized to other systems. The project creates a large framework for formal and informal education including the training of students, development of a major museum exhibit on Amazonia, workshops for K-12 STEM teachers, publications in professional educational journals, and a web portal, The Evolutionary Encyclopedia of Amazonian Biodiversity, that will make all results available to the public, as well as serve as an informational platform about Amazonian biodiversity and its global importance. This award is being co-funded by NSF's Office of International Science and Engineering.

Amazonia is Earth's most iconic center of biological diversity and endemism and is among the most important terrestrial biomes due to its contributions to global systems ecology. This project seeks to answer an overarching question in biodiversity science: How was the modern Amazonian biota and its environment assembled across space and time? The research is designed to understand the evolutionary and environmental-ecological history of late Neogene-Recent Amazonia through a comparative approach that integrates across the disciplines of systematics, population biology, ecosystem structure and function, geology, Earth systems modeling and remote sensing, and environmental history. The project also investigates how biotic and environmental change over this time-period influenced Amazonian functional diversity in biogeochemical flows, and how these, in turn, shaped the dimensions of biodiversity seen today as well as the history of global-scale changes in biogeochemical cycling. The project, which is a collaboration with Brazilian scientists and funding agencies, represents the most integrative examination of Amazonian biodiversity and its history to date. The approaches taken describe a methodological template for analyzing information about the history of biotic and environmental change across large, ecologically complex landscapes that can be generalized to other systems. The project creates a large framework for formal and informal education including the training of students, development of a major museum exhibit on Amazonia, workshops for K-12 STEM teachers, publications in professional educational journals, and a web portal, The Evolutionary Encyclopedia of Amazonian Biodiversity, that will make all results available to the public, as well as serve as an informational platform about Amazonian biodiversity and its global importance. This award is being co-funded by NSF's Office of International Science and Engineering.