adding unstaged changes

Author: alexandroid000

amato_Oct19/images/cats.jpg

@@ -245,13 +245,13 @@ <h2>New Technologies, New Priorities</h2>
 </section>
 <section id="environment-boundaries-can-be-useful-in-the-face-of-uncertainty" class="slide level2">
 <h2>Environment Boundaries Can Be Useful in the Face of Uncertainty!</h2>
-<p><img src="images/roomba.gif" class="center" height="300" /></p>
+<p><img src="roomba.gif" class="center" height="300" /></p>
 </section>
 <section id="lessons-from-manipulation" class="slide level2">
 <h2>Lessons from Manipulation</h2>
 <div class="row">
 <div class="column" style="width:60%;">
-<p><img src="images/grasp.gif" class="center" width="350" /><br />
+<p><img src="grasp.gif" class="center" width="350" /><br />
 </p>
 </div>
 <div class="column" style="width:40%;">
@@ -301,7 +301,7 @@ <h1>Related Work</h1>
 <h2>Minimalist Boundary Interactions</h2>
 <div class="row">
 <div class="column" style="width:50%;">
-<p><img src="images/bitbots.jpg" class="center" width="350" /><br />
+<p><img src="bitbots.jpg" class="center" width="350" /><br />
 </p>
 </div>
 <div class="column" style="width:50%;">
@@ -318,28 +318,28 @@ <h2>Minimalist Boundary Interactions</h2>
 </section>
 <section id="minimalist-boundary-interactions-1" class="slide level2">
 <h2>Minimalist Boundary Interactions</h2>
-<p><img src="images/okane_unreliable.gif" class="center" height="270" /><br />
+<p><img src="okane_unreliable.gif" class="center" height="270" /><br />
 </p>
 <h4 id="lewis-j.-s.-okane-j.-m.-planning-for-provably-reliable-navigation-using-an-unreliable-nearly-sensorless-robot.-the-international-journal-of-robotics-research-2013.">Lewis, J. S., &amp; O’Kane, J. M. Planning for provably reliable navigation using an unreliable, nearly sensorless robot. The International Journal of Robotics Research, 2013.</h4>
 </section>
 <section id="wild-bodies" class="slide level2">
 <h2>Wild Bodies</h2>
-<p><img src="images/weaselballs-gates.gif" class="center" width="400" /><br />
+<p><img src="weaselballs-gates.gif" class="center" width="400" /><br />
 </p>
 <h4 id="bobadilla-l.-sanchez-o.-czarnowski-j.-gossman-k.-lavalle-s.-m.-2012.-controlling-wild-bodies-using-linear-temporal-logic.-in-robotics-science-and-systems.">Bobadilla, L., Sanchez, O., Czarnowski, J., Gossman, K., &amp; LaValle, S. M. (2012). Controlling wild bodies using linear temporal logic. In Robotics: Science and Systems.</h4>
 </section>
 <section id="micro-robots" class="slide level2">
 <h2>Micro-Robots</h2>
 <div class="row">
 <div class="column" style="width:40%;">
-<p><img src="images/reorient.gif" class="center" width="300" /></p>
+<p><img src="reorient.gif" class="center" width="300" /></p>
 <p><font size="3"></p>
 <p>C. Bechinger, et. al. <strong>Active particles in complex and crowded environments.</strong> Reviews of Modern Physics, 2016.</p>
 <p>Kantsler, V., et. al. <strong>Ciliary contact interactions dominate surface scattering of swimming eukaryotes.</strong> PNAS, 2013.</p>
 </font>
 </div>
 <div class="column" style="width:60%;">
-<p><img src="images/swimmers.png" class="center" width="400" /><br />
+<p><img src="swimmers.png" class="center" width="400" /><br />
 </p>
 </div>
 </div>
@@ -349,11 +349,11 @@ <h2>Bouncing Robots</h2>
 <div class="row">
 <div class="column" style="width:50%;">
 <p>Iterating the same boundary interaction can cause cycles and trapping regions:</p>
-<p><img src="images/twoconv.gif" class="center" width="300" /></p>
+<p><img src="twoconv.gif" class="center" width="300" /></p>
 </div>
 <div class="column" style="width:50%;">
 <p>Combinatorial changes from small perturbations:</p>
-<p><img src="images/plane.gif" class="center" width="300" /></p>
+<p><img src="plane.gif" class="center" width="300" /></p>
 </div>
 </div>
 <h4 id="toward-the-design-and-analysis-of-blind-bouncing-robots.-l.-h.-erickson-and-s.-m.-lavalle.-icra-2013">Toward the design and analysis of blind, bouncing robots. L. H. Erickson and S. M. LaValle. ICRA, 2013</h4>
@@ -366,7 +366,7 @@ <h1>Research Goals</h1>
 </section>
 <section id="goal-1-robust-predictable-movement-primitives" class="slide level2">
 <h2>Goal 1: Robust, Predictable Movement Primitives</h2>
-<p><img src="images/flow.png" class="center" width="500" /><br />
+<p><img src="flow.png" class="center" width="500" /><br />
 </p>
 <div class="center">
 
@@ -410,11 +410,11 @@ <h2>Modelling Assumptions</h2>
 <li>Robot position modelled as a <em>point</em> in a <em>polygonal environment</em> (possibly with polygonal obstacles).</li>
 <li>Robots move in <em>straight lines</em> until they encounter a boundary.</li>
 </ul>
-<p><img src="images/bounce_examples.jpg" class="center" width="700" /></p>
+<p><img src="bounce_examples.jpg" class="center" width="700" /></p>
 </section>
 <section id="modelling-uncertainty" class="slide level2">
 <h2>Modelling Uncertainty</h2>
-<p><img src="images/bounce_example_nondet.png" class="center" width="400" /></p>
+<p><img src="bounce_example_nondet.png" class="center" width="400" /></p>
 <p>Uncertainty is unavoidable… Plan over <strong>nondeterministic</strong> bounce rules!</p>
 <div class="incremental">
 <p>What kinds of error and nondeterminism does this include?</p>
@@ -428,14 +428,14 @@ <h2>How to Implement?</h2>
 <li>contact sensor and mechanical alignment of robot body (“rotate-until-free”)</li>
 </ul>
 <div class="incremental">
-<p><img src="images/reorient.gif" class="center" width="300" /></p>
+<p><img src="reorient.gif" class="center" width="300" /></p>
 </div>
 </section>
 <section id="geometry-influences-dynamics" class="slide level2">
 <h2>Geometry Influences Dynamics</h2>
 <p>Given geometry, parameterize points on outer boundary and obstacles.</p>
 <p>We can explicitly compute transition function <span class="math inline">\(f\)</span> between points on the boundary.</p>
-<p><img src="images/contraction_map_cond.png" class="center" width="350" /><br />
+<p><img src="contraction_map_cond.png" class="center" width="350" /><br />
 </p>
 </section>
 <section id="geometry-influences-dynamics-1" class="slide level2">
@@ -446,15 +446,15 @@ <h2>Geometry Influences Dynamics</h2>
 </div>
 <div class="incremental">
 <p>Can be used to reduce uncertainty!</p>
-<p><img src="images/bounce_images.gif" class="center" width="150" /><br />
+<p><img src="bounce_images.gif" class="center" width="150" /><br />
 </p>
 </div>
 </section>
 <section id="limit-cycles" class="slide level2">
 <h2>Limit Cycles</h2>
 <div class="row">
 <div class="column" style="width:35%;">
-<p><img src="images/cycles.gif" class="center" width="250" /><br />
+<p><img src="cycles.gif" class="center" width="250" /><br />
 </p>
 </div>
 <div class="column" style="width:65%;">
@@ -492,7 +492,7 @@ <h2>Nondeterministic Planning</h2>
 <section id="visibility-decomposition" class="slide level2">
 <h2>Visibility Decomposition</h2>
 <p>Equivalence relation on points along boundary with respect to what edges of original polygon they can “see”.</p>
-<p><img src="images/new_partial_local_sequence.png" class="center" width="400" /><br />
+<p><img src="new_partial_local_sequence.png" class="center" width="400" /><br />
 </p>
 </section>
 <section id="defining-safe-actions" class="slide level2">
@@ -518,12 +518,12 @@ <h2>Forming the Safe Bounce Visibility Graph</h2>
 </section>
 <section id="forming-the-safe-bounce-visibility-graph-1" class="slide level2">
 <h2>Forming the Safe Bounce Visibility Graph</h2>
-<p><img src="images/safe_bvg.png" class="center" width="750" /></p>
+<p><img src="safe_bvg.png" class="center" width="750" /></p>
 </section>
 <section id="examples-of-search-queries" class="slide level2">
 <h2>Examples of Search Queries</h2>
 <p>If we want to give our robot a constant control input, can use breadth-first search with constraint intersection.</p>
-<p><img src="images/inserted_two_conv.png" class="center" width="700" /><br />
+<p><img src="inserted_two_conv.png" class="center" width="700" /><br />
 </p>
 </section>
 <section id="examples-of-search-queries-1" class="slide level2">
@@ -560,10 +560,10 @@ <h1>Applications, Tasks, and Interfaces</h1>
 <h2>Directed Self-Assembly and Manipulation</h2>
 <div class="row">
 <div class="column" style="width:50%;">
-<p><img src="images/gear.gif" class="center" width="200" /></p>
+<p><img src="gear.gif" class="center" width="200" /></p>
 </div>
 <div class="column" style="width:50%;">
-<p><img src="images/ratchet.jpg" class="center" width="400" /></p>
+<p><img src="ratchet.jpg" class="center" width="400" /></p>
 </div>
 </div>
 <h4 id="di-leonardo-roberto-et-al.-bacterial-ratchet-motors.-proceedings-of-the-national-academy-of-sciences-2010">Di Leonardo, Roberto, et al. “Bacterial ratchet motors.” Proceedings of the National Academy of Sciences (2010)</h4>
@@ -572,20 +572,20 @@ <h4 id="klavins-eric.-programmable-self-assembly.-ieee-control-systems-magazine-
 <section id="weaselball-hub-design" class="slide level2">
 <h2>Weaselball Hub Design</h2>
 <div class="center-text">
-<p><img src="images/weaselball_design_iterations.png" style="float:left;height:150px"> <img src="images/weaselball_design4.jpg" style="float:right;height:150px"></p>
+<p><img src="weaselball_design_iterations.png" style="float:left;height:150px"> <img src="weaselball_design4.jpg" style="float:right;height:150px"></p>
 </div>
 <div class="row">
 <div class="column" style="width:60%;">
 <p>Next step: <strong>controllable detaching</strong> (electro-permanent magnets or shape-memory alloys)</p>
 </div>
 <div class="column" style="width:40%;">
-<p><img src="images/weaselball_stacked.jpg" class="center" height="200" /></p>
+<p><img src="weaselball_stacked.jpg" class="center" height="200" /></p>
 </div>
 </div>
 </section>
 <section id="assembly-example" class="slide level2">
 <h2>Assembly Example</h2>
-<p><img src="images/collective_formation.gif" class="center" height="200" /></p>
+<p><img src="collective_formation.gif" class="center" height="200" /></p>
 <h4 id="nilles-a.-wasserman-j.-born-a.-horn-c.-born-j.-lavalle-s.-m.-2019-august.-a-hardware-and-software-testbed-for-underactuated-self-assembling-robots.-in-2019-international-symposium-on-multi-robot-and-multi-agent-systems-mrs-pp.-7-9.-ieee.">Nilles, A., Wasserman, J., Born, A., Horn, C., Born, J., &amp; LaValle, S. M. (2019, August). A Hardware and Software Testbed for Underactuated Self-Assembling Robots. In 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS) (pp. 7-9). IEEE.</h4>
 </section>
 <section id="key-research-insights-and-questions" class="slide level2">
@@ -600,11 +600,11 @@ <h4 id="mayya-siddharth-gennaro-notomista-dylan-shell-seth-hutchinson-and-magnus
 </section>
 <section id="manipulation-wafr-2020" class="slide level2">
 <h2>Manipulation (WAFR 2020)</h2>
-<p><img src="images/environment_and_triangles.png" class="center" width="600" /></p>
+<p><img src="environment_and_triangles.png" class="center" width="600" /></p>
 </section>
 <section id="manipulation-wafr-2020-1" class="slide level2">
 <h2>Manipulation (WAFR 2020)</h2>
-<p><img src="images/FSMs.png" class="center" width="600" /></p>
+<p><img src="FSMs.png" class="center" width="600" /></p>
 </section>
 <section id="interesting-takeaways" class="slide level2">
 <h2>Interesting Takeaways</h2>
@@ -620,18 +620,15 @@ <h2>Interesting Takeaways</h2>
 </section>
 <section id="corralling" class="slide level2">
 <h2>Corralling</h2>
-<p><img src="images/corralling.gif" class="center" width="400" /></p>
+<p><img src="corralling.gif" class="center" width="400" /></p>
 </section>
 <section id="interfaces-and-design" class="slide level2">
 <h2>Interfaces and Design</h2>
-<p><img src="images/visualizer.jpg" class="center" width="600" /></p>
+<p><img src="visualizer.jpg" class="center" width="600" /></p>
 </section>
 <section id="interfaces-and-design-1" class="slide level2">
 <h2>Interfaces and Design</h2>
-<div data-align="center" style="float;padding:24px">
-<iframe width="600" height="250" src="images/improv_demo.mp4" frameborder="0" allowfullscreen>
-</iframe>
-</div>
+<p><img src="improv_demo.gif" class="center" width="600" /></p>
 <p>with Dr. Amy LaViers. Choreographers and movement observers have lots of technologies for specifying movement! Published MOCO 2018.</p>
 </section>
 
@@ -648,7 +645,7 @@ <h2>Main Goal: “The Bouncing Robot Design Game”</h2>
 <p>I see this as a first step toward a CAD tool for micro-robotic assembly systems.</p>
 </div>
 <div class="column" style="width:50%;">
-<p><img src="images/design_short.png" class="center" width="300" /><br />
+<p><img src="design_short.png" class="center" width="300" /><br />
 </p>
 </div>
 </div>
@@ -693,7 +690,7 @@ <h2>Abstractions on Dynamics</h2>
 </ul>
 <div class="incremental">
 <p>Both of these could be “data-driven” over forward simulations of the nondeterministic dynamical system. Also plan to continue work on analytical characterizations of the dynamical systems.</p>
-<p><img src="images/pent_chaos.png" class="center" width="130" /></p>
+<p><img src="pent_chaos.png" class="center" width="130" /></p>
 </div>
 </section>
 <section id="stretch-goal" class="slide level2">
@@ -711,7 +708,7 @@ <h2>Conclusion</h2>
 <li>Compliance and minimalism are cool principles and still useful!</li>
 <li>Lots of very cool problems to work on, especially when looking at sensor models / information spaces / low-complexity controllers.</li>
 </ul>
-<p><img src="images/cycles.gif" class="center" width="200" /></p>
+<p><img src="cycles.gif" class="center" width="200" /></p>
 </section>
 
 <section id="thank-you" class="title-slide slide level1">
@@ -739,11 +736,9 @@ <h1>Thank you!</h1>
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   [role="note"] { display: none; }
   body {
-    width: 800px;
-    height: 450px;
-    margin-left: -400px; margin-top: -225px;
-    position: absolute;
-    top: 50%; left: 50%;
+    width: 800px; height: 600px;
+    margin-left: -400px; margin-top: -300px;
+    position: absolute; top: 50%; left: 50%;
     overflow: hidden;
     display: none;
   }
@@ -769,7 +764,7 @@ <h1>Thank you!</h1>
   .view section {
     pointer-events: auto;
     position: static;
-    width: 800px; height: 450px;
+    width: 800px; height: 600px;
     margin: -150px -200px;
     float: left;