VOLUME 3 FALL 2015 ROBOTICS INSTITUTE Summer Scholars (RISS) Working Papers JOURNAL Robotics Institute Summer Scholars Working Papers Journal Volume 3 Fall 2015 Founding Editors J. Andrew Bagnell Reid Simmons Rachel Burcin Managing Editor Rachel Burcin [email protected] Assistant Managing Editors Tess Hellebreker Michael Lee Cormac O'Meadhra Cover Design & Document Layout Alexandra Yau We gratefully acknowledge the support of the National Science Foundation through the Research Experience for Undergraduates (REU) program (Grant # CNS 1263266). Through the Summer Scholars Program, the Robotics Institute hosts the NSF Robotics & Intelligent Systems REU Site. The Robotics Institute Summer Scholars Working Papers Journal is an annual publication of the Robotics Institute’s Summer Scholars Program at Carnegie Mellon University. Copyright © Carnegie Mellon University 2015 Table of Contents Summer Scholar Program ………………………………………………………………... 1 RISS Participating Labs 2015…..………………………………………………………… 2 Congratulations Cohort of 2015! ………………………………………………………… 3 2015 NSF REU RISS Scholarship Recipients! .......................................................... 4 Thank You RISS Working Papers Journal Team ……………………………………… 5 To Future Summer Scholars……………………………………………………………… 6 About the Robotics Institute Summer Scholars Program ……………………….......... 8 RISS 2015 Gallery ………………………………………………………………………… 12 Working Papers.……………………………………………………………………………. 16 20 1. Sufyan Abbasi and Randy Sargent……………………………………………… Visualizing Air Quality: The Environmental Sensor Data Repository Explorer 24 2. Gabriela Amaral Araujo de Oliveira, Tony Dear, and Howie Choset………… Development of an Online Learning Platform for an Undergraduate Robotics Course 31 3. Elias Bitencourt, Robert Paolini, and Matthew T. Mason……………………... 3D Vision with Kinect and Similar Sensors 35 4. Laura Brooks, Heather Knight, and Reid Simmons ……………………..……. Temporal Gestures for Expressive Motion 42 5. Nai Chen Chang, Xinlei Chen, and Abhinav Gupta…………………………… Differentiating Singularity and Multiplicity in Web Images I 46 6. Feliphe G. Galiza and David S. Touretzky.………………….……...………….. Analytical Inverse Kinematics of a 6-DOF Mantis Robot Arm and Modeling for Minimum Joints Load 7. Jonathan Y. Joo, Christopher Cunningham, Heather L. Jones, and William 51 L. Whittaker ………………………………………...…………………………… Waypoint Sequencing for Planetary Rovers with Significant Time- Dependent Energy Constraints 59 8. Ariana Keeling, Robert Paolini, and Matthew T. Mason …….………….…… Autonomous Object Recovery in Manipulation Experiments 65 9. Arbaaz Khan, Shreyansh Daftry, and Martial Hebert.………………………… Multi Modal Pose Fusion for Monocular Flight 10. Ratnesh Madaan, Robert Paolini, Erol Sahin, and Matthew T. Mason 69 ………..…………………………………………………………………………… Predicting Orientations Under Manipulation Actions 11. Chirag Nagpal, Kyle Miller, Benedikt Boecking, and Artur Dubrawski 76 …………………………………………………………………………………….. An Entity Resolution Approach to Isolate Instances of Human Trafficking Online 82 12. Ravenna Thielstrom, Heather Knight, and Reid Simmons………................ Generating Spatial Paths to Express Attentional Attitudes 87 13. Hadi Salman, Tony Dear, and Howie Choset………………………………… A Novel Skidding Model for a Snakeboard 94 14. Hadi Salman, Chaohui Gong, and Howie Choset…………….……………… Shape Based Geometric Motion Planning for an Underactuated Highly- Articulated System 101 15. Minghan Wei……………………………………………………………………… Detecting Vehicles Based On Smartphone-collected Images 107 16. Xingchen Yu……………………………………………………………………… Methods and Experiments of Pedestrian Detection II Table of Illustrations Cover Photo Credits: 1 - Courtesy of Sandeepa Veeramachaneni 2 - Courtesy of Debra Tobin 1 2 1 2 2 1 2 1 Photos used in “To Future Summer Scholars”: http://www.ri.cmu.edu Courtesy of Sandeepa Veeramachaneni Courtesy of Debra Tobin Photos used in “Robotics Institute Summer Scholars Program” http://www.tartanracing.org http://www.ri.cmu.edu/ri_static_content.html?menu_id=464 Photos used in “Photo Gallery” and in “Articles” Courtesy of Debra Tobin III SUMMER SCHOLAR PROGRAM At the core of the program are incredibly talented and dedicated faculty, graduate students, staff, and RISS alumni. We are incredibly thankful for their support, participation, leadership, and vision that make this one of the best research experiences in robotics and intelligent systems in the world. 1 Thank you to the RISS 2015 Participating Labs Auton Lab Biorobotics Lab Computer Vision Lab CREATE Lab Elastic Group Field Robotics Center (FRC) Illumination and Imaging Lab (ILIM) Intelligent Coordination and Logistics Laboratory (ICLL) Learning, Artificial Intelligence, and Robotics Laboratory (LAIRLab) Manipulation Lab NavLab Personal Robotics Lab Platypus, LLC. Reliable Autonomous Systems Lab (RASL) Robotics Academy Robust Adaptive Systems Laboratory Soft Robotics and Bionics Lab Tekkotsu Lab 2 Congratulations Cohort of 2015! Sufyan Abbasi Vassar College (USA) Gabriela Araujo Federal University of Lavras (Brazil) Clara Belitz Bowdoin College (USA) Elias Bitencourt Maranhão State University (Brazil) Laura Brooks Tufts University (USA) Nai Chen (Nadine) Chang Columbia University (USA) Arjav Desai Delhi Technological University (India) Feliphe Gonçalves The University Center of FEI (Brazil) Abhinav Goyal Johns Hopkins University (USA) Tess Hellebreker University of Texas, Austin (USA) Jonathan Joo California Institute of Technology (USA) Ariana Keeling Georgia Institute of Technology (USA) Arbaaz Khan Manipal Institute of Technology (India) Evan Klei Rochester Institute of Technology (USA) Timothy Krentz Valparaiso University (USA) Michael Lee Princeton University (USA) Kevin Low Carnegie Mellon University (USA) Ratnesh Madaan Indian Institute of Technology, Roorkee (India) Cristina Morales University of Puerto Rico (Puerto Rico) Chirag Nagpal Army Institute of Technology (India) Cormac O'Meadhra University College Dublin (Ireland) Hadi Salman American University of Beirut (Lebanon) Arpit Saxena Indian Institute of Technology, Kharagpur (India) Griffin Tabor Worcester Polytechnic Institute (USA) Ravenna Thielstrom Swarthmore College (USA) Shantanu Vyas University of Pittsburgh (USA) Tairui Wang Jiangsu University of Science and Technology (China) Minghan Wei Nanjing University of Science and Technology (China) Yuzhang Wu Nanjing University of Science and Technology (China) Xingchen Yu Nanjing University of Science and Technology (China) Sam Zeng Carnegie Mellon University (USA) Zhong Zhe Nanjing University of Science and Technology (China) Siwei Zhu Nanjing University of Science and Technology (China) 3 2015 NSF Research Experiences for Undergraduates RISS Scholarship Recipients Laura Brooks Tufts University Nai Chen (Nadine) Chang Columbia University Tess Hellebrekers University of Texas, Austin Ariana Keeling Georgia Institute of Technology Evan Klei Rochester Institute of Technology Timothy Krentz Valparaiso University Kevin Low Carnegie Mellon University Cristina Morales University of Puerto Rico Ravenna Thielstrom Swarthmore College 4 Thank You! Special Thanks to the RISS Working Papers Journal Team Sufyan Abbasi Timothy Krentz Vassar College (USA) Valparaiso University (USA) Gabriela Amaral Araujo de Oliveira Michael Lee Federal University of Lavras Princeton University (USA) (Brazil) Kevin Low Clara Belitz Carnegie Mellon University Bowdoin College (USA) (USA) Arjav Desai Chirag Nagpal Delhi Technological University Army Institute of Technology (India) (India) Cormac O'Meadhra Tess Hellebrekers University College Dublin University of Texas, Austin (USA) (Ireland) Minghan Wei Arbaaz Khan Nanjing University of Science Manipal Institute of Technology and Technology (China) (India) Evan Klei Rochester Institute of Technology (USA) 5 To Future Summer Scholars To prospective and accepted scholars alike, we welcome you on your journey towards the Robotics Institute Summer Scholars (RISS) program. RISS is a phenomenal platform through which students can accelerate their undergraduate research experience in robotics. For many of the summer scholars, this was their firs texperience in a facility like the Robotics Institute. Throughout the summer you will be surrounded by some of the world’s leading roboticists, innovative research, and invaluable guidance and support. At the end of the summer, you will know much more than just how to conduct research. You will be a step ahead of your peers, having seen first-hand what cutting edge robotics requires. The RISS program focuses on your individual research, which you will pursue under the guidance of your mentor and their graduate students. For many of you, this will be your first contribution to an active research project and first opportunity to make a tangible impact on the robotics community. Research experience helps your graduate school application stand out so work diligently to make the most of your time here. To that end, you should strive to make substantial progress early on. Take it upon yourself to define milestones towards a final paper. Ultimately, the paper is a result of careful planning and foresight. 6 Your individual research project is not the only element of RISS, however. Throughout the summer you will be immersed in a community of exceptional students. This community will be nurtured through more formal events ranging from lab visits, guest speakers and graduate school application seminars to less formal cookie hours, frisbee games, and wakeboarding on the Allegheny River. In RISS, the social aspects come hand