John M. Dolan
Principal Systems Scientist
The Robotics Institute
3109 Newell-Simon Hall
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh, PA 15213
Phone: (412)268-7988
FAX: (412)268-7350
Research
- Wide Area Prospecting Using Supervised Autonomous Robots
- Videos
- K10 teleoperation at NASA Ames and NASA JPL from CMU [20MB, 1:42 runtime]
This video presents in
fast-forward format (4x clock speed) teleoperation tests performed between CMU
and both NASA ARC and NASA JPL on 10 August 2005. At NASA ARC, the K10-purple
was remotely piloted from CMU to physically touch three targets, and at NASA
JPL, the Sample Return Rover was remotedly piloted to visit three rocks. The
targets and rocks served as surrogate prospecting sites. Teleoperation was
implemented via joystick. Both site and rover camera views are shown.
- Papers/reports
- Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration, Proceedings of the 1st Annual Conference on Human-Robot Interaction, March, 2006.
- Safe and Efficient Robotic Space Exploration with Tele-Supervised Autonomous Robots, Proceedings of the AAAI Spring Symposium, March, 2006.
- A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation, Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, ASCE, March, 2006.
- Adaptive Sampling for Multi-Robot Wide Area Prospecting, tech. report CMU-RI-TR-05-51, Robotics Institute, Carnegie Mellon University, October, 2005.
- MySecureCyberspace
- Multimodal Arc Welding Controller
- Videos
- Multimodal controller demonstration (December 2001) [384MB, 10:35 runtime]
This video presents a
demonstration of a multimodal (voice/gesture) controller for intuitive
programming and control of an industrial manipulator in arc welding tasks.
Station 1 (0:00-3:45) demonstrates "reduced sensor mode", in which
the sensor provides only directional, but not absolute position, information.
Station 2 (3:45-6:40) demonstrates "slave mode", in which human
motion is imitated in a scaled or transposed fashion. Station 3 (6:40-10:35)
presents learning by observation, in which earlier programming patterns are
used to predict current programming intentions.
- Papers/reports
- ABB R&D Digest article (click on "The 'human touch' - advanced robot programming" on the right-hand side)
- Multimodal
Controller Technical Report (Dec. 2002)
- Cyberscout - Distributed Robotic Surveillance
- CyberATV - Autonomous ATVs for distributed reconnaissance and surveillance
- DARPA Project Review Video, April 1999 [447MB, 16:52 runtime]
- Millibots - Small (7 cm^3) robots for cooperative indoor sensing and localization
- RAVE - Real and Virtual Environment for multirobot command and control
- RAVE: A Real and Virtual
Environment for Multiple Mobile Robot Systems, Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS'99), Vol. 3, October, 1999, pp. 1360-1367.
- Asynchronous Teams
- Asynchronous Teams (A-Teams) and the A-Teams Toolkit, Proceedings of the Artificial Neural Networks in Engineering (ANNIE '97), Vol. 7, November, 1997, pp. 73 - 78.
- Self-Mobile Space Manipulator (SM^2) [RI project page]
- SM^2 project homepage
- A Novel Gravity Compensation System for Space
Robots, H. Brown and J. Dolan, Proceedings of the ASCE Specialty
Conference on Robotics for Challenging Environments (Space94), February,
1994, pp. 250-258.
Army
Reserves
- Army Reserve Magazine article on the ARIOC's establishment of a partnership with CMU's Software Engineering Institute to develop training in computer information assurance. I served as technical liaison with SEI to oversee the development and implementation of this training.
- Pittsburgh Post-Gazette article on the IAX, the capstone event in the SEI training program. I served as battalion commander of one of the five Information Operation Centers that make up the ARIOC.