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The papers in this volume were part of the technical conference cited on the cover and title page. Papers were selected and subject to review by the editors and conference program committee. Some conference presentations may not be available for publication. Additional papers and presentation recordings may be available online in the SPIE Digital Library at SPIEDigitalLibrary.org. The papers reflect the work and thoughts of the authors and are published herein as submitted. The publisher is not responsible for the validity of the information or for any outcomes resulting from reliance thereon. Please use the following format to cite material from these proceedings: Author(s), “Title of Paper,” in Sensors for Next-Generation Robotics III, edited by Dan Popa, Muthu B. J. Wijesundara, Proceedings of SPIE Vol. 9859 (SPIE, Bellingham, WA, 2016) Six-digit Article CID Number. ISSN: 0277-786X ISSN: 1996-756X (electronic) ISBN: 9781510601000 Published by SPIE P.O. Box 10, Bellingham, Washington 98227-0010 USA Telephone +1 360 676 3290 (Pacific Time)·Fax +1 360 647 1445 Copyright © 2016, Society of Photo-Optical Instrumentation Engineers. Copying of material in this book for internal or personal use, or for the internal or personal use of specific clients, beyond the fair use provisions granted by the U.S. Copyright Law is authorized by SPIE subject to payment of copying fees. The Transactional Reporting Service base fee for this volume is $18.00 per article (or portion thereof), which should be paid directly to the Copyright Clearance Center (CCC), 222 Rosewood Drive, Danvers, MA 01923. Payment may also be made electronically through CCC Online at copyright.com. Other copying for republication, resale, advertising or promotion, or any form of systematic or multiple reproduction of any material in this book is prohibited except with permission in writing from the publisher. The CCC fee code is 0277-786X/16/$18.00. Printed in the United States of America. Publication of record for individual papers is online in the SPIE Digital Library. Paper Numbering: Proceedings of SPIE follow an e-First publication model. A unique citation identifier (CID) number is assigned to each article at the time of publication. Utilization of CIDs allows articles to be fully citable as soon as they are published online, and connects the same identifier to all online and print versions of the publication. SPIE uses a six-digit CID article numbering system structured as follows:
AuthorsNumbers in the index correspond to the last two digits of the six-digit citation identifier (CID) article numbering system used in Proceedings of SPIE. The first four digits reflect the volume number. Base 36 numbering is employed for the last two digits and indicates the order of articles within the volume. Numbers start with 00, 01, 02, 03, 04, 05, 06, 07, 08, 09, 0A, 0B...0Z, followed by 10-1Z, 20-2Z, etc. Ahluwalia, Simranjit, 0J Al Hamidi, Yasser, 09, 0D Alonzo, Rommel, 04 Baptist, Joshua R., 05, 0J, 0K Barcola, Essodong, 08 Bartasyte, Ausrine, 08 Bugnariu, Nicoleta L., 06 Castano-Cano, Davinson, 0H Close, Ryan, 02, 03 Cohn, Robert W., 0B Cremer, Sven, 04, 0E Das, Sumit Kumar, 05, 06 Doelling, Kris, 0E Gendreau, Dominique, 0A, 0F Grossard, Mathieu, 0H Hammouche, Mounir, 0F Harnett, C. K., 0I Hingeley, Anthony, 04 Hollinger, Jim, 03 Hubert, Arnaud, 0H Kasi-Okonye, Isioma, 0J Kim, Young-tae, 0C Lacaze, Alberto, 02 LaCelle, Zachary, 02 Landrith, Ryan, 0C Lee, Woo H., 05, 0K Lundberg, Cody L., 0E McNair, Mike, 0E Middleton, Seth, 03 Miller, Haylie L., 06 Mirza, Fahad, 04, 0K Mohand-Ousaid, Abdenbi, 0A, 0F Murphy, Karl, 02 Nguyen, Son, 03 Nothnagle, Caleb, 0C Ouisse, Morvan, 08 Panchapakesan, Balaji, 0B Popa, Dan O., 04, 05, 06, 0E, 0J, 0K Rakotondrabe, Micky, 08, 09, 0A, 0D, 0F Rougeot, Patrick, 0A, 0F Rupp, Ronald, 03 Sahasrabuddhe, Ritvij R., 05, 0K Schneider, Anne, 02 Shin, Jeongsik, 0E Silva, Dinithi, 0J Tuladhar, Yathartha, 04 Vessey, Alyssa, 03 Volker, Rachael, 0J Wijayasinghe, Indika B., 06 Wijesundara, Muthu B. J., 0C, 0K Williams, Kathryn, 03 Yetkin, Oguz, 0J Conference CommitteeSymposium Chairs Symposium Co-chair Conference Chairs
Conference Program Committee
Session Chairs
IntroductionGoals of this ConferenceDue to the proliferation of mass-produced, miniaturized sensors, it is now possible to envision massively distributed sensors being used to enhance perception, cognition, and control capabilities of next-generation robots. In fact, applications where new, more intelligent robots are needed cut across all dimensional scales and industrial sectors. Examples include assisted living environments, search and rescue in disaster areas, neural and vision prosthetics, nano-manufacturing, self-driving vehicles, human-friendly industrial assembly and smart material handling, and so on. One exciting next-generation application is endowing humanoid robots with perception comparable with those of humans: including not only distributed touch through robotic skin, hearing, and vision, but also super-human perception, such as the ability to see in the dark or through objects. Using off-the-shelf sensors that have not been designed specifically for robotics is fraught with challenges that must be mitigated by consideration of power, weight, form factor, and interconnections early in the design process This conference focuses on new sensors and sensor arrays for robotics and autonomous vehicles, new form factors and packaging schemes to help integrate robots and sensors, new applications of robots enabled by increased perception capabilities, and challenges in sensor fusion, networking and control brought about by massive amounts of sensor data available to the robot. The conference promotes technical scientific papers related to robot sensors that push beyond the state-of-the-art in industry and new robotics applications, including those with dual uses (e.g., military-defense and commercial-industrial) Summary of the Third ConferenceThe third Sensors for Next-Generation Robotics conference was held at the SPIE Defense+Commercial Sensing (DCS) symposium in Baltimore, Maryland, United States on April 20-21, 2016. The poster entitled “Piezoresistive pressure sensor array for robotic skin” was presented by Fahad Mirza, a graduate student at the University of Texas at Arlington (United States), and Mirza discussed the experimental results with printed arrays of piezo-resistive strain gauges and embedded silicone polymers. These sensors have applications, such as touch sensitive whole body robot skin for the next-generation service and assistive robots that are soft, safe and collaborate with humans. The work was documented in proceedings paper 98590K [9859-15] On April 21st, presentations were organized in three tracks dedicated to smallscale robotics, human-size assistive robots, and autonomous vehicles. The morning session consisted of the following speakers:
Professor Robert Cohn from University of Louisville (United States) gave the exciting keynote presentation entitled “Ultraflexible nanostructures and implications for future nanorobots,” which is documented in paper 98590B [9859-20]. His presentation offered an intriguing perspective on types of actuators that are physically realizable at the nanoscale, in particular polymeric nanoactuators that experience contraction under laser irradiation or “cablelike” nanorods that are flexible and amplify motion. Numerous examples of nanostructures from Professor Cohn’s laboratory were provided along with representative figures of merit, such as force output, displacement, and bandwidth. This presentation spurred discussion and perhaps future collaborations between robotics, MEMS, and nanotechnology researchers to create the next-generation nanoscale robots with applications in biology and manufacturing. The afternoon session of the conference focused on new sensors for multiscale robotics applications from the micro scale to the human scale. Speakers included:
We hope that readers find our 2016 conference proceedings interesting and will join us at next year’s edition of the conference. Dan Popa Muthu B. J. Wijesundara |