From jctrink@sandia.gov Mon Jan 31 16:29:51 2000 From: Jeff Trinkle FACULTY AND STUDENT SUMMER POSITIONS IN ROBOTICS AT SANDIA NATIONAL LABS ======================================================================== The Intelligent Systems and Robotics Center at Sandia National Laboratories (http://www.sandia.gov/isrc/) in Albuquerque, New Mexico, is planning to provide summer positions for selected faculty members and students with experience in engineering and/or computer science. Of particular interest is automatic planning for robotic systems operating in uncertain, dynamic environments. Below are descriptions of several ongoing research projects in which summer interns could participate. 1. Simulation of Systems of Bodies with Intermittent Contact: ------------------------------------------------------------- We are developing mathematical models and solution algorithms to predict the motions of free bodies and mechanisms as they collide and roll and slide on one another. Such a capability is critical to the future advancement of autonomous robotic systems as researchers seek to endow them with the ability to physically manipulate their own environments. An example application is the prediction of what will happen as a robot's fingers close around an object. 2. Motion Planning with Process Dynamics and Uncertainty: --------------------------------------------------------- We are developing techniques for automatically generating sensor-based plans that incorporate the dynamics of the tasks at hand and that are robust to the uncertainties common in real environments. Example applications include planning paths for a mobile robot on real terrain and cost--effective spray deposition paths for geometrically complex parts. 3. Planning for Motion and Localization: ---------------------------------------- We are developing planning algorithms for mobile robots with various run-time capabilities. One problem is to plan for navigation in a large area (10km square and beyond), making use of ``classical'' maps, topographic maps, elevation data, and aerial photographs and taking into account sensing and recognition capabilities, uncertainty in control and map data, and limitations on communications. Localization strategies must be embedded into such plans in both the single-robot and team cases. An indoor version of the problem is similar but emphasizes minimalist sensing. 4. Grasp Synthesis: ------------------- We are developing techniques for grasp synthesis based on formulating grasp analysis problems as the so-called ``MaxDet'' (determinant maximization) problem. There are two aspects: 1) finding optimal grasps assuming that desired contacts can be achieved without error, and 2) using techniques developed in the first two projects to plan grasp acquisition strategies that are robust to the accidental bumping that will inevitably occur as the fingers close. 5. Computer Science: -------------------- We are designing and implementing a software architecture for supporting the above motion planning research. It is an interactive graphical simulation environment. A portion of the research will focus on developing a textual programming language which will be used as the basis for human-computer interfaces for the programming and operation of robots. Research will be performed on both the design of the language and the human computer interface. The system is being implemented in C++, OpenGL and Xwindows on UNIX workstations. Additional Information ++++++++++++++++++++++ Desirable Background: --------------------- The successful applicant will have experience in one or more of the following: Human-Computer Interaction, Robust Control Theory, Computational Geometry, Analytical Dynamics, Interactive Graphics, Optimization Theory, Programming Language Design, Optimal Control, Numerical Analysis, Software Systems (C++ \& UNIX). How to Apply: ------------- You must be a US citizen and have a GPA greater than 3.0 in your technical classes to be eligible. If you meet these conditions, please send: 1. Your resume 2. Copies of your transcripts 3. A statement of your research interests to Ms. Dolores Miller by 3/31/00. Intelligent Systems Principles Department Sandia National Laboratories P.O. Box 5800, Mailstop 1004 Albuquerque, NM 87185-1004 Salary: ------- Pay for faculty members is negotiable. Pay for summer students is computed based upon current class rank and, in 1999, was be approximately \$10--\$14 per hour for undergraduates and \$25 per hour for graduate students. The cost of transportation to and from Albuquerque was reimbursed. We expect a similar arrangement for summer 2000.