CSE 599 Personal Robotics Clinic: Algorithms & Applications

The Personal Computer allowed ordinary people to use computers for countless new applications, most of which had not been imagined when PCs first emerged.  Today's Personal Robotics researchers are imagining and prototyping tomorrow's robotic applications, and the algorithms that these applications need.

In this 'seminar-clinic' course, students will read and present recent papers on Personal Robotics applications.  They will also implement and present classic robotics algorithms that are relevant to Personal Robotics.  The term 'clinic' refers to the hands on software implementation projects.  The goal of the course as a whole is to stimulate thinking about new Personal Robotics applications, and build the skills needed to implement them.

Students will be provided with a custom simulation / visualization environment (written in Python running on Ubuntu Linux, and available as a pre-configured Virtual Machine) to support their implementation of path planning algorithms.  Other tools and environments (such as Matlab, C++, or Java) can be used at the student's discretion.  In order to keep the focus on learning the algorithms, rather than on learning libraries, the course will NOT emphasize existing packages or libraries (such as ROS).

The algorithms subject matter in the course will adapt to student interests, but will include

• path planning algorithms including A*, RRT (Rapidly Exploring Random Tree) search, and planners based on solving the Laplace equation, and may include
• path smoothing
• arm forward kinematics
• arm inverse kinematics (direct and Jacobian iterative methods)
• arm planning
• collision detection algorithms
• grasping

The course will not focus on vision, learning, or control, topics that are addressed in other UW courses.

The course will include a final project, which can be chosen by the student, or suggested by the instructor.  The final project will be similar to the earlier implementation projects, but greater in scope.  In some cases it will be an extension of the earlier projects.

Students will be expected to participate actively.  Each student will
 present application papers (twice)
 implement and present an algorithm (twice)
 implement and present a final project

Students will not all implement the same algorithms, to increase the breadth of topics that the group as a whole explores.  The number of student presentations will be reduced if necessary for scheduling reasons.

Instructor: Joshua Smith

Meeting place: CSE 503.  Time: MW 10:30-11:50

3 credits.  Limited to 15 students.  Prerequisites: permission of instructor.  Adventurous undergraduates will be accepted if space permits.

Sample Personal Robotics Readings

Clothing manipulation:

'Bringing Clothing into Desired Configurations with Limited Perception,' Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James F. O'Brien, Pieter Abbeel, ICRA 2011
Mobile manipulation:
'Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects'
Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, and Maxim Likhachev.  ICRA 2011

Sample Algorithm readings:

RRTs:
'RRT Connect: An Efficient Approach to Single-Query Path Planning', Kuffner, LaValle, ICRA 2000

'Space-Filling Trees: A New Perspective on Incremental Search for Motion Planning', James J. Kuffner, Steven M. LaValle, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Laplace planning:
Path Planning Using Laplace's Equation, Connolly, Burns, Weiss, ICRA, 1990

Arm Kinematics
    Forward
            Spong Chap 3, Forward Kinematics, the Denavit-Hartenberg Convention

    Inverse
            Direct solution
                         Spong Chap 4, Inverse Kinematics

            Iterative Jacobian solution

'Overview of Damped Least-Squares Methods for Inverse Kinematics of Robot Manipulators,' Arati S. Deo and Ian D. Walker, J. Intelligent and Robotic Systems, Kluwer 14: 43-68,1995

UW Spring Career Fair - Save the date!

UW Seattle Spring Career Fair
April 10, 2012
3-7pm, Hec Ed Pavilion (Alaska Airlines Arena)
http://careers.uw.edu/students/Spring-Career-Fair

More than 115 employers are registered to attend, and are looking to hire Huskies from a variety of majors for part-time, internship and/or full-time entry level career positions.  Details on those specific employers can be found at http://careers.uw.edu/students/Spring-Career-Fair and by the first day of Spring Quarter, a full Career Fair Guide will be available on the website that will also outline the positions being hired for by each attending organization.

Tax Class for International Students

Student Taxes for International Students:
DATE: 3/21/12, Wednesday
TIME: Session 1: 12pm - 1pm
        Session 2: 1:30pm - 2:30pm
LOCATION: Odegaard 220

International students may receive tax forms reporting the US source funds they receive. The information contained in these forms can be confusing. This session will focus on helping students understand the 1042S forms sent out by the UW Student Fiscal Services Office, and will also cover other international student tax-related issues. This class is appropriate for both undergraduate and graduate students and is offered free of charge.
The class is co-sponsored by the Office of International Students and Scholars and Student Fiscal Services.

1 credit seminar focused on science, drama or microbiology

General Studies 197 C: Challenging Boundaries: Richard Feynman, Science, and the Theatre (SLN: 14080)
Tues 9:30-10:20 am (1 credit), MGH 074
Instructor: Michelle Granshaw, School of Drama
How has the theatre represented science and its leaders? How do these representations affect our understanding of scientific questions and ideas? In what ways can science help us analyze performance and dramatic structure? How can theatre act as a mediator between science and general audiences? This seminar will examine The Meaning of it All in dialogue with dramatic texts that confront Feynman's key arguments, ideas, and questions. The course will explore the role of imagination and doubt in the scientific process, relationships between science, religion and morality, and the influence of dramatic representation on our understanding of Feynman as a scientist and man. Sophomore welcome to take course. To register email seminars@uw.edu.


General Studies 197 I: Microbial World: Friend and Foe (SLN: 20027)
Wednesday, 3:00 - 3:50 pm (1 credit), HSK 350 (Micro Conference Room)
Instructor: Roger Bumgarner, Department of Microbiology
The course will cover the applications of microbiology in society ranging from progress towards curing HIV, to food safety, to the impact of viruses and bacteria on local salmon populations, to clinical testing in a hospital setting. Students will hear from a wide variety of faculty conducting both basic and applied research. Students will have the opportunity to hear how these individuals were attracted to their specific field of study, what the focus of their work is, and the potential implications their work may have on society. Sophomore welcome to take course. To register email seminars@uw.edu. 

UW Alumnae Board Scholarship and UW Alumni Assoc. Legacy Scholarship for undergrads

Application forms with complete information are online at http://www.washington.edu/alumni/meet/groups/uwab/scholarships.html.

Alumnae Board Scholarship - due Sunday, March 25, 2012
Questions may be directed to: alumnae@uw.edu

The University of Washington Alumnae Board is a VOLUNTEER organization that provides ONE YEAR of full tuition scholarship funds (at the day-time student rate) for Washington state residents who will be or are attending the University of Washington as an undergraduate. Recipients are selected on the basis of FINANCIAL NEED, SCHOLASTIC ACHIEVEMENTS, LEADERSHIP, COMMUNITY SERVICE, and a demonstrated STRONG WORK ETHIC.

Eligibility Requirements:

• Resident of Washington at time of application.
• Have never received a UWAB scholarship before
• Undergraduate (any year), including transfer students, whom have not obtained a Bachelor's degree.
• Will be or is attending the University of Washington - Seattle Campus in the upcoming year.
• Those entering as Freshmen or from Running Start programs should have a GPA of 3.5 and above.
• Sophomore, Junior, and Senior applicants should have a GPA of 3.0 and above.
• Combined SAT scores over 1,600 OR ACT scores over 22.
• Parents' 2011 adjusted gross income below $95,000.
• All applicants must apply for 2012-2013 Free Application for Federal Student Aid (FAFSA).

Legacy Scholarship - due Friday, March 30, 2012
Questions may be directed to Jill Edinger at (206) 543-0540

The University of Washington Alumni Association offers a Legacy Scholarship Program designed to encourage and support children and grandchildren of alumni to continue their family's connection to the University - their UW legacy. Up to three $2,500 awards will be given to recipients selected on the basis of financial need, scholastic achievement, leadership activities and community service. These are one-time awards and are not automatically renewed for the subsequent year, although students are welcome to reapply.

Eligibility requirements:

• Undergraduate juniors or seniors, including transfer students, but not current degree holders
• Will attend the University of Washington as a full-time student in the Fall of 2012
• A cumulative grade point average of 3.0 or higher
• Demonstrated financial need as confirmed by UW Student Financial Services
• Demonstrated campus/community service involvement
• Sponsored by a parent or grandparent who is a University of Washington graduate and a current member of the Alumni Association  

Interested in Global Development? Join Spring GEOG 499B Seminar Class!

Interested in global development work? Volunteering abroad? Activism at home? Join a multidisciplinary 2 credit seminar for Spring quarter!

The Critical Development Forum's course is back by popular demand! We had over 30 requests for 20 spots this quarter, so sign up now for SPRING.

This quarter we were overwhelmed by the amazing student response to the two credit Critical Development Seminar course, GEOG 499B. We had a fantastic time learning from one another, and we're happy to offer it again next quarter. See a bit of what we discussed online at cdfseminar.tumblr.com.



Spring 2012 class offering - back by popular demand!

GEOG 499 B/GEOG 600: Beyond Good Intentions: Evaluating Global Development Work Critically

 2-4* Credits, Student Directed Seminar, Spring 2012

Thursdays, 3:30-5:20PM, Room TBA

Facilitator: Abby Temple, (History, African Studies & Global Health)

Faculty Adviser: Professor Matt Sparke (Geography, Global Health, International Studies)

Email atemp@uw.edu to request a spot. Include your name, major, year in school, and a few sentences about why you are interested in taking the course.

Course website and e-syllabus (from Winter 2012 session): cdfseminar.tumblr.com

When are good intentions not enough? When are they harmful? How can we best use our good intentions to make a difference in issues of poverty, injustice, and inequality? This is a forum for students with good intentions - those of us who serve and advocate for the poor and marginalized locally and globally - to take a pause from the ongoing momentum of our work for self-reflection. The seminar provides an academic space to complement the student-driven Critical Development Forum.

Throughout the course, we will challenge ourselves to reflect critically and honestly on our motivations and explore the contradictions of our past, current, or future work and advocacy. Readings will unpack the historical, social, political, economic, cultural, and environmental context of our engagement in development and global (in)justice. We hope to inspire students to overcome the fear of questioning good intentions in order to deepen the impact of their work and provoke structural social change.

The success of the course is reliant upon students from ALL disciplines and levels of experience.  We especially encourage engineering, health science, natural science, and arts students who might never have taken a social science/humanities course to enroll. Students with extensive experience working in local or global development and justice work as well as students still exploring their options are both encouraged equally to be part of the forum. The variety of students in the course during Winter Quarter of 2012 allowed students to push their own boundaries, and listen to ideas from all perspectives.

* The course offers a 4-credit option, which gives students the task of designing a project to engage the University and local community in the themes of the course. Where better to spark change than right on our own campus?

Contact Abby via email at atemp@uw.edu

The Critical Development Forum (CDF, http://students.washington.edu/cdfuw/)  is dedicated to promoting a critical dialogue between students, faculty, and professionals at the engaged in global development and global justice work. We encourage those interested in challenging poverty and inequality to reconnect with one another, critically reflect on their work through a social justice lens, and challenge themselves to move beyond good intentions.

Graduate Student Mothers: Research Participation Opportunity

Are you balancing motherhood and preparation for an academic career?

Are you in graduate school or recently graduated?

Do you have a child under 6?

I am looking for participants for a dissertation study that seeks to understand how women on the academic career path balance work and motherhood.  Study participation involves interviews and observations and offers you the opportunity to your further your knowledge about the experiences of female parents who are pursuing an academic career.  If you are interested in participating or learning more, please contact Catherine Mutti-Driscoll at cjmd@uw.edu or (206)619-0612.