Award Abstract #0320764
RUI: Acquisition of Robotic Systems for Research in Cognitive Science, Biomechanics, and Computer Science

NSF Org:	BCS Division of Behavioral and Cognitive Sciences
Initial Amendment Date:	September 11, 2003
Latest Amendment Date:	November 14, 2007
Award Number:	0320764
Award Instrument:	Standard Grant
Program Manager:	John E. Yellen BCS Division of Behavioral and Cognitive Sciences SBE Directorate for Social, Behavioral & Economic Sciences
Start Date:	November 1, 2003
Expires:	December 31, 2007 (Estimated)
Awarded Amount to Date:	$471340
Investigator(s):	John Long JOLONG@VASSAR.EDU (Principal Investigator) Thomas Ellman (Co-Principal Investigator) Kenneth Livingston (Co-Principal Investigator) Bradley Richards (Co-Principal Investigator) Luke Hunsberger (Co-Principal Investigator)
Sponsor:	Vassar College 124 Raymond Avenue Poughkeepsie, NY 12604 845/437-5376
NSF Program(s):	MAJOR RESEARCH INSTRUMENTATION
Field Application(s):
Program Reference Code(s):	OTHR, 0000
Program Element Code(s):	1189

ABSTRACT

With an award from the National Science Foundation's program for Major Research Instrumentation, a team of five investigators at Vassar College is building and outfitting an interdisciplinary robotics research laboratory (IRRL). Combining research and education in cognitive science, biomechanics, and computer science, the IRRL will house 40 robots of six different kinds for a specific and shared purpose - to simulate and test complex systems.

Specifically, the investigators will use the facilities of the IRRL (1) to develop novel robot platforms, (2) to simulate virtual robots with computers, (3) to test theories of animal locomotion, multi-agent cooperation and human concept learning, and (4) to incorporate robotic systems in computer science education. The investigators expect that important new insights in to each discipline will result from the combination of computer simulation and experiments with robots in a real physical world setting.

With funds from the NSF, the investigators will acquire robots, computers, and milling equipment for modification and fabrication of the robotic systems. Two full-time scientific technicians, housed next to the IRRL, will maintain and modify robots as needed. In addition, Vassar College has established a research partnership with Nekton Technologies LLC (Durham, North Carolina). The goal of the partnership is to modify Nekton's DragonFlyTM aquatic robot so that it may be used as a platform to assess the mechanical control of swimming performance in fish and fish-like robots. The investigators will supervise the renovation of a room to create the IRRL. Funds for the renovation are provided by Vassar College.

This project will have several important impacts on the science education of undergraduates in a liberal arts environment. First, the investigators in the computer science department will incorporate robots into all levels of the curriculum, giving students tangible feedback about the workings of their programs. Second, the group this year ran a robot competition, which drew 12 students from four different majors; the competition will be run annually and students will use the sophisticated tools of the IRRL. Third, over the three years of the project, the faculty members will sponsor 12 undergraduates to become Robot Fellows in Vassar's Undergraduate Research Summer Institute, a ten-week, full-time internship. Fourth, the faculty members are developing a new correlate sequence (Vassar's equivalent of a minor), "Embodied Intelligent Systems," featuring robotic systems and processes developed in the IRRL, for majors in cognitive science, computer science, and behavior & neuroscience.

PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

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Ellman, T.  "Specification and synthesis of hybrid automata for physics-based animation.,"  Automated Software Engineering,  v.13,  2006,  p. 395.

Kemp, M., Hobson, B. and J.H. Long, Jr.  "Madeleine: an agile AUV propelled by flexible fins.,"  Proceedings of the 14th International Symposium on Unmanned Untethered Submersible Technology (UUST).,  v.2005,  2005,  p. n/a.

Liew, C.W., Root, R.G., Long, J.H. Jr., Koob, T.J. and M. Cummins.  "Using artificial organisms to study the evolution of backbones in fish,"  Proceedings of the 2007 IEEE Symposium on Artificial Life,  2007,  p. 108.

Long, J.H. Jr..  "Biomimetic robotics: building autonomous, physical models to test biological hypotheses.,"  Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science.,  v.221,  2007,  p. 1193.

Long, J.H. Jr., Engel, V., Combie, K., Koob-Emunds, M. and T.J. Koob.  "A target for biomimetics and synthetic biology: the notochord of the Atlantic hagfish, Myxine glutinosa.,"  The Bulletin, Mount Desert Island Biological Laboratory,  v.45,  2006,  p. 78.

Long, J.H. Jr., Koob, T.J., Irving, K., Combie, K., Engel, V., Livingston, N., Lammert, A. and J. Schumacher.  "Biomimetic evolutionary analysis: testing the adaptive value of vertebrate tail stiffness in autonomous swimming robots.,"  The Journal of Experimental Biology,  v.209,  2006,  p. 4732.

Long, J.H. Jr., Koob-Emunds, M. and T.J. Koob.  "The mechanical consequences of vertebral centra.,"  The Bulletin, Mount Desert Island Biological Laboratory,  v.1,  2004,  p. 99.

Long, J.H. Jr., Lammert, A.C., Pell, C.A., Kemp, M., Strother, J., Crenshaw, H.C. and M.J. McHenry.  "A navigational primitive: biorobotic implementation of cycloptic helical klinotaxis in planar motion.,"  IEEE Journal of Oceanic Engineering,  v.93,  2004,  p. 795.

Long, J.H. Jr., Schumacher, J., Livingston, N. and M. Kemp.  "Four flippers or two? Tetrapodal swimming with an aquatic robot.,"  Bioinspiration and Biomimetics,  v.1,  2006,  p. 20.

Schachat, F., Song, L., Koob, T. and J.H. Long Jr.  "Myosin heavy chain expression in the specialized embryonic tail appendage of the skate Leucoraja erinacea.,"  The Bulletin, Mount Desert Island Biological Laboratory,  v.45,  2006,  p. 63.

Summers, A.P. and J.H. Long, Jr..  "Skin and bones, sinew and gristle: the mechanical behavior of fish skeletal tissues,"  Fish Biomechanics (Editors R.E. Shadwick & G.V. Lauder, volume 23, Fish Physiology; series editors A.P. Farrell & C.J. Brauner). Academic Press.,  2006,  p. 141.


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