Carnegie Mellon University
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       Inactive Projects
Current Projects, Sorted Alphabetically
Safety for UGVs
A flexible, behavior-based approach to safety lowers the risk of operating a large, fast-moving UGV.
Schematic Design for MEMS
We have developed nodal simulation software to enable a structured representation for MEMS design using a hierarchical set of MEM components.
Science Autonomy
The Science Autonomy project seeks to improve the accuracy and effectiveness of robotic planetary investigations by enabling automatic detection of relevant science features, classification of feature properties, and exploration planning that responds on-the-fly.
Search and Rescue
Giving Urban Search and Rescue workers more technological tools to help find and save victims of natural disasters.
Secure Agent Name Server
We are developing a secure agent name server which requires preregistration for deployment.
Sensabot Inspection Robot
NREC is developing an inspection robot for use in oil and gas production plants.
Sense and Avoid
We are developing Unmanned Aerial Vehicles (UAVs) that sense and avoid autonomously.
Shape Stable Body Frames
Simple Hands
Designing simple grippers for autonomous general purpose manipulation.
Simultaneous Localization and Mapping
We are developing a geometric mapping strategy that directs a mobile robot to explore an unknown environment while taking into consideration sensor and encoder uncertainty.
The Snackbot is a mobile robot designed to deliver food to the offices at CMU while engaging in meaningful social interaction.

Snake Robot Design
Analyzing the factors that are of importance in designing a snake robot, and implementing new designs.
Social Robots
We are developing robots with personality.
Soft Tissue Simulation for Plastic Surgery
Software Package for Precise Camera Calibration
A novel camera calibration method can increases not only an accuracy of intrinsic camera parameters but also an accuracy of stereo camera calibration by utilizing a single framework for square, circle, and ring planar calibration patterns.
Sonic FlashlightTM
We are developing a method of medical visualization that merges real time ultrasound images with direct human vision.
Spatio-Temporal Facial Expression Segmentation
A two-step approach temporally segment facial gestures from video sequences. It can register the rigid and non-rigid motion of the face.
Specialty Crop Automation
The Integrated Automation for Sustainable Specialty Crops Farming project teams the National Robotics Engineering Center (NREC), the University of Florida, Cornell University and John Deere to bring precision agriculture and autonomous equipment to citrus growers.
Spinner (UGCV)
With development of the Spinner unmanned ground vehicle, an NREC-led team delivered technical breakthroughs in mobility, mission endurance and payload fraction.
Stacking Planner
Generates plans for polyhedral sheet metal parts.
Strawberry Plant Sorter
NREC is developing an automated, machine vision-based strawberry plant sorter.
Stress Testing Autonomous Systems
Stress Tests for Autonomy Architectures (STAA) finds autonomy system safety problems that are unlikely to be discovered by other types of tests.
Sweep Monitoring (SMS)
NREC developed the Sweep Monitoring System (SMS) for training soldiers and demining personnel to use hand-held land mine detectors.
TechCaFE provides educators with simple and customizable tools to make learning fun for students. Through TechCaFE we are creating a suite of culturally and socially relevant computer and mobile phone based tools for enhancing English literacy skills among children and adults. This includes CaFE Teach, a web-accessible tool that teachers use to create and modify customized content for their students. Students can access and learn from the content added by teachers via CaFE Web, a web-based practice tool, or CaFE Phone, a mobile phone game. Current work on this project involves developing CaFE Play, which would serve as a platform for developers to create applications that incorporate teacher content within the context of games designed with the specific user population in mind.
Teleoperation Booth
NREC has developed an immersive teleoperation system that allows operators to remotely drive an unmanned ground vehicle (UGV) more effectively over complex terrain.
Teleoperation with a 12-DOF Coarse-Fine Manipulator
High-fidelity manipulation of remote environments using a 6-DOF robot equipped with a 6-DOF magnetic levitation fine-motion wrist.
Temporal Segmentation of Human Motion
Temporal segmentation of human motion

Temporal Shape-From-Silhouette
We are developing algorithms for the computation of 3D shape from multiple silhouette images captured across time.
Terrain Estimation using Space Carving Kernels
This project uses information about the ray extending from the sensor to the sensed surface be used to improve terrain estimation in unstructured environments.
Text Miner
We are developing Text Miner, a system that automatically classifies news reports on a company's financial outlook.
Texture Replacement in Real Images
We are developing methods to replace some specified texture patterns in an image while preserving lighting effects, shadows and occlusions.
The Aerial Robotic Infrastructure Analyst (ARIA)
The Aerial Robotic Infrastructure Analyst (ARIA) rapidly creates comprehensive, high-resolution, semantically rich 3D models of infrastructure – an interactive assistant for infrastructure inspection.
The Electric Cable Differential (ECD) Leg
We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.
The Intelligent Workcell
This project is studying methods for augmenting industrial workcells with sensors and feedback mechanisms to enable workers and robots to operate safely in the same environment.
Tightly Integrated Stereo and LIDAR
The goal of this project is to use sparse, but accurate 3D data from LIDAR to improve the estimation of dense stereo algorithms in terms of accuracy and speed.
Time-optimal Vehicle Trajectories
What's the fastest way to drive a mobile robot?
Tooling Planner
Supports various decision making steps related to bending tools and press-brake setups.
Traffic Data Analysis
NREC and FHWA are developing techniques for automatically analyzing large amounts of video collected from vehicles traveling on highways.
Transforming Surface Representations to Volumetric Representations
This project’s goal is to transform the surface-based representations that are naturally derived from sensed data into volumetric representations needed by CAD and BIM.
Transitional Unmanned Ground Vehicle (TUGV)
Cross Country Navigation
Transportation Energy Resources from Renewable Agriculture (TERRA)
We are developing a robotic phenotyping systems for phenotyping crops for rapid breeding decisions. This system positions sensors within the canopy for measurements not observable from above or below. Machine learning and computer vision algorithms are then used to generate phenotyping data from the raw sensor data.
Treasure Hunt: Pickup Teams
We are developing a single heterogeneous human-robot team capable of effectively locating objects of interest (treasure) spread over a complex, previously unknown environment.
Tree Inventory
A tree inventory system uses vehicle-mounted sensors to automatically count and map the locations of trees in an orchard.
Tunnel Mapping
NREC is pioneering research and development of a low power, small, lightweight system for producing accurate 3D maps of tunnels through its Precision Tunnel Mapping program.
Tunnel Mapping
NREC is pioneering research and development of a low power, small, lightweight system for producing accurate 3D maps of tunnels through its Precision Tunnel Mapping program.
TURBO-PLAN: An Interactive Mission Planning Advisor
UAV/UGV Air-Ground Collaboration
This project is concerned with the development of a distributed estimation system of collaborating UAVs (Unmanned Aerial Vehicle) and AGVs (Autonomous Ground Vehicles) that detect, track and estimate the location of a person, vehicle or object of interest on the ground.
UGCV PerceptOR Integrated (UPI)
The UPI (UGCV PerceptOR Integrated) program integrates and enhances the results from UGCV and PerceptOR to increase the speed and autonomy of unmanned ground vehicles operating in complex terrain. By combining the inherent mobility of Spinner with advanced perception techniques including the use of learning and prior terrain data, the UPI program stresses system design across vehicle, sensors and software so that the strengths of one component compensate for the weaknesses of another.
Ultra-High-Density Data Cache for Low-Power Communications
Demonstrating technology for a 10 GB/cm2 rewritable data storage system using MEMS-based actuators and magnetic recording.
Underground Mining Operator Assist
Automating the functions of a continuous mining machine and roof bolting units.
Understanding and Modeling Trust in Human-Robot Interactions
This collaboration with the UMass Lowell Robotics Lab seeks to develop quantitative metrics to measure a user's trust in a robot as well as a model to estimate the user's level of trust in real time. Using this information, the robot will be able to adjust its interaction accordingly.

Unification of Component Analysis
This project aims to find the fundamental set of equations that unifies all component analysis methods.
Unmanned Ground Vehicle for Security (Terrascout)
We are developing autonomous ATVs to secure borders and facility perimeters.
Urban Challenge
Carnegie Mellon University and General Motors built an autonomous SUV that won first place in the 2007 DARPA Urban Challenge.
Urban Search and Rescue
We are developing Hybrid Teams of Autonomous Agents: Cyber Agents, Robots and People (CARPs) to address the challenges of urban search and rescue.