报告题目：Robot and Protein Kinematics
报告人：Professor Gregory S. Chirikjian
Department of Mechanical Engineering
Johns Hopkins University
时间：2016年12月8日 周四，14：30 - 16：30
Kinematics is an important area of study both in robotics and in the analysis of protein motions in biological processes. This talk examines similarities in how kinematics enters in both of these areas of study through a number of examples.
Example 1: the workspace of a manipulator arm describes the set of reachable positions and orientations of the end effector relative to the base, and this is similar to the set of reachable poses in a biopolymer segment. (The analogy is particularly strong for snakelike robots.) Inverse kinematics problems in both areas are important in simulations.
Example 2: Modular robots are designed for easy assembly and disassembly, which is facilitated by complementary connector shapes. This is very similar to the protein-protein docking problem. In both cases, entropy quantifies how compatible parts are.
Example 3: Sensing, computer vision, and image processing technologies used for robot localization and pattern recognition in robotics are quite similar to data analysis methods in experimental structural biology. These similarities will be examined with case studies.
Gregory S. Chirikjian received undergraduate degrees from Johns Hopkins University in 1988, and the Ph.D. degree from the California Institute of Technology, Pasadena, in 1992. Since 1992, he has been on the faculty of the Department of Mechanical Engineering, Johns Hopkins University, where he has been a full professor since 2001. From 2004-2007 he served as department chair. His research interests include robotics, applications of group theory in a variety of engineering disciplines, and the mechanics of biological macromolecules. He is a 1993 National Science Foundation Young Investigator, a 1994 Presidential Faculty Fellow, and a 1996 recipient of the ASME Pi Tau Sigma Gold Medal. In 2008 he became a Fellow of the ASME, and in 2010 he became a Fellow of the IEEE. He is the author of more than 200 journal and conference papers and primary author on three books: Engineering Applications of Noncommutative Harmonic Analysis (2001) and Stochastic Models, Information Theory, and Lie Groups, Vols. 1+2. (2009,2011). In 2016 and expanded edition of his 2001 book came out as a Dover book under the new title: Harmonic Analysis for Engineers and Applied Scientists.