Jerry C. Hamann

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We introduce a framework, called “physicomimetics,” that provides distributed control of large collections of mobile physical agents in sensor networks. The agents sense and react to virtual forces, which are motivated by natural physics laws. Thus, physicomimetics is founded upon solid scientific principles. Furthermore, this framework provides an(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization,(More)
By combining static input–output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed which result in different sets of decoupled inputs and outputs, and which can use a variety of feedback measurements (position, velocity, acceleration, or(More)
This paper describes a one-credit laboratory course for freshmen majoring in electrical and computer engineering (ECE). The course is motivational in nature and exposes the students to a wide range of areas of electrical and computer engineering. The authors believe it is important to give freshmen a broad perspective of what ECE is all about, and to shine(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important in swarm robotics. Prior approaches generally rely either on global information provided by GPS, beacons, and landmarks, or complex local information provided by vision systems. In this paper we provide a new technique, based on trilateration. This system is(More)
Teams of autonomous cooperating vehicles are wellsuited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior – an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons, and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization,(More)
1 Robert Kubichek, University of Wyoming, Electrical and Computer Engineering Department, Laramie, WY 82071 kubichek@uwyo.edu 2 John Pierre, University of Wyoming, Electrical and Computer Engineering Department, Laramie, WY 82071 pierre@uwyo.edu 3 Frank Tuffner, University of Wyoming, Electrical and Computer Engineering Department, Laramie, WY 82071 4 Jerry(More)
In contrast to conventional drives, with direct drives the motor is not created until it is integrated into the machine. The mechanical and electrical subsystems are merged to form the mechatronic system by the velocity and position control loops. Since control parameters have a crucial influence on the behavior of the complete system, a main goal of this(More)