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主 讲 人:Gregory S. Chirikjian教授

地  点:机械楼 南401室

主 办 方:机械工程及自动化学院

开始时间:2019-04-24 10:00

主讲人简介:

Gregory S. Chirikjian于1988年在约翰·霍普金斯大学获得学士学位,1992年在加州理工学院获得博士学位,同年就职于约翰·霍普金斯大学机械工程系。2001年起成为该校终身教授,2004-2007担任该校机械工程系主任。2019年1月起兼聘新加坡国立大学,领导机械工程系。

内容简介:

Many stochastic problems of interest in engineering and science involve random, rigid-body motions. In this talk, a variety of stochastic phenomena that evolve on the group of rigid-body motions will be discussed together with tools from harmonic analysis and Lie theory to solve the associated equations. These phenomena include mobile robot path planning and camera calibration. Current work on multi-robot team diagnosis and repair, information fusion, and self-replicating robots will also be discussed. In order to quantify the robustness of such robots, measures of the degree of environmental uncertainty that they can handle need to be computed. The entropy of the set of all possible arrangements (or configurations) of spare parts in the environment is one example of such a measure and has led us to study problems at the foundations of statistical mechanics and information theory. These and other topics in robotics lend themselves to the same mathematical tools, which also will be discussed in this talk.


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