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Current Projects, Sorted Alphabetically
A Multi-Layered Display with Water Drops
With a single projector-camera system and a set of linear drop generator manifolds, we have created a multi-layered water drop display that can be used for text, videos, and interactive games.
A Projector-Camera System for Creating a Display with Water Drops
In this work, we show a computer vision based approach to easily calibrate and learn the properties of a single-layer water drop display, using a few pieces of off-the-shelf hardware.
A-Match, the interface to the RETSINA Matchmaker, provides a web interface for users to advertise their agents, customize agents, find other agents, and query them.
Adaptive Interoperability of Multiple Heterogeneous Agents
To enable requester agents to find provider agents in environments with heterogeneous and dynamic information services, we have developed middle agents which serve to increase agent interoperability.
Adaptive Traffic Light Signalization
As part of the Traffic21 initiative at CMU, we are investigating the design and application of adaptive traffic signal control strategies for urban road networks.
Adaptive Web-Based Information Gathering and Filtering
Advanced Sensor Based Defect Management at Construction Sites (ASDMCon)
This research project builds on, combines and extends the advances in generating 3D environments using laser scanners.
AFOSR PRET: Information Fusion for Command and Control: The Translation of Raw Data To Actionable Knowledge and Decision
We are conducting a multidisciplinary research effort to develop the next generation of information fusion systems.
Agent Based Design
Novel agent-based approach for the design of modular robot manipulators
Agent Storm
Agent Storm is a scenario where agents autonomously coordinate their team-oriented roles and actions while executing a mission.
Agent-based Composition of Behavioral Models (ABC)
This project focuses on accurately modeling human physical behaviors; these models are used 1) to create computer generated forces (CGFs) that exhibit human-like behavior and 2) to recognize physical behaviors performed by trainees in a MOUT (Military Operations in Urban Terrain) team training simulation.
Aircraft Maintenance
A wearable software system that uses RETSINA agents to assist in the process of documenting and making repairs to aircraft.
Real-Time System for Adaptive Optimization of End-to-End Quality of Service
Application Specific Integrated MEMS Process Service (ASIMPS)
Creating the design, fabrication and characterization support for enabling integration of MEMS and CMOS to span from low cost prototyping to high volume production.
Architecture for Agile Assembly (AAA)
Reduction of time to market in agile manufacturing
Non-contact 3-D surgical instrument tracking for device testing and surgeon assessment.
Assisted Mining
NREC applied robotic sensors to the development of semi-automated continuous mining machines and other underground mining equipment.
Assistive Educational Technology
This project seeks to design, create, implement, test, and deploy interactive computer games and automated tutoring systems to motivate and enhance the education of children who are visually impaired or deaf.
Asynchronous Teams of Autonomous Agents (A-Teams)
An asynchronous team is a way of organizing large numbers of very different types of agents-from the simplest of microelectromechanical devices through intelligent robots to expert humans.
Automated Floor Plan Modeling
This project is working to estimate 2D floor plans from sensed 3D data, and to establish criteria for evaluating the accuracy of automated floor plan modeling algorithms.
Automated Reverse Engineering of Buildings
The goal of this project is to use data from 3D sensors to automatically reconstruct compact, accurate, and semantically rich models of building interiors.
Automated Turf Management
This project deals with automated management and mowing of large areas of turf, such as golf courses, sports fields, and parks
Autonomous Agricultural Spraying
We are developing ground-based vehicles for pesticide application.
Autonomous Coordinated Motion and Mobility (ACMM)
The ACMM (Autonomous Coordinated Motion and Mobility) project integrates and develops controls for more efficient supervised teleoperation of mobile manipulators.
Autonomous Driving Motion Planning
The goal of this project is to develop efficient, high-performance motion planning methodologies for highway and urban autonomous driving.
Autonomous Ground Vehicle Design
Pursuing high speed navigation of unrehearsed terrain in pursuit of the 2005 DARPA Grand Challenge
Autonomous Haulage (AHS)
NREC and Caterpillar are jointly developing the Autonomous Haulage System (AHS), a commercial system for automating large off-highway trucks.
Autonomous Helicopter (HELI)
Develop a vision-guided robot helicopter
Autonomous Loading (ALS)
The Autonomous Loading System (ALS) completely automates the task of loading excavated material onto dump trucks.
Autonomous Mobile Assembly (ACE)
The ACE project is concerned with autonomous mobile assembly.
Autonomous Navigation System (ANS)
The NREC is leading the development of perception and path planning within the Autonomous Navigation System program for the Future Combat System.
Autonomous Platform Demonstrator (APD)
The Autonomous Platform Demonstrator (APD) will develop, integrate and test next-generation unmanned ground vehicle (UGV) technologies.
Autonomous Vehicle Health Monitoring
As DoD autonomous vehicles begin to take on more-complex and longer-duration missions they will need to incorporate knowledge about the current state of their sensing, actuation, and computing capabilities into their mission and task planning.
Autonomous Vehicle Safety Verification
This project investigates safety verification of autonomous driving behaviors.
Autonomous Vineyard Canopy and Yield Estimation
The research project aims to design and demonstrate new sensor technologies for autonomously gathering crop and canopy size estimates from a vineyard -- expediently, precisely, accurately and at high-resolution -- with the goal to improve vineyard efficiency by enabling producers to measure and manage the principal components of grapevine production on an individual vine basis.
Autonomy & Control (RVCA)
NREC is implementing an end-to-end control architecture for unmanned ground vehicles (UGVs) to reduce integration risk in the US Army’s Future Combat Systems (FCS) program.
Backbone Fitting
BeatBots (Keepon)
We are developing robots that can participate in coordinated rhythmic social interactions with people.
Behavior Planning for Character Animation
We are exploring a behavior planning approach to automatically generate realistic motions for animated characters.
Belt Inspection
NREC designed, built and tested a high-speed "machine vision" system for monitoring the condition of conveyor belts such as those used in underground coal mines.
Bend Sequence Planner
Finds the best sequence of bending operations and repositionings of the part in the robot gripper to make a bent sheet metal part.
BendCad Modeler
Sheet metal design system for the Intelligent Bending Workstation
Biodegradable Electronics
We are developing implantable biodegradable electronic devices offer the potential to provide therapeutic functions for limited periods of time - weeks to months – degrading in register with the anticipated needs of the application and thus not requiring surgical removal. One application is a biodegradable radio frequency (RF) power generator connected to electrical stimulating electrodes to enhance bone regeneration.

Biologically Inspired Micro Robotics
This project seeks to develop a joint angle sensor for a robotic cricket, which is part of a larger project with Case Western Reserve University.
We are developing implantable, wireless MEMs-based sensors for various applications, such as monitoring bone regeneration and left ventricular pressure, to provide timely feedback to clinicians to help make better decisions on timing of therapeutic interventions.

We have designed and built inkjet-based bioprinters to controllably deposit spatial patterns of various growth factors and other signaling molecules on and in biodegradable scaffold materials to guide tissue regeneration.

Black Knight
NREC developed sensing, teleoperation and autonomy packages for BAE Systems' Black Knight, a prototype unmanned ground combat vehicle (UGCV).
Blood-Plasma Based Bioplastics
We have developed a manufacturing process to convert donated blood plasma and platelets into inexpensive, off-the-shelf bioactive plastics to enhance and accelerate tissue healing. These materials contain nature’s own mix of growth factors in highly concentrated solid to semi-solid forms that controllably elute these factors as the bioplastics degrade. This technology is currently in human clinical trials.

Framework for the development of distributed, secure, reliable, robust and scalable systems
Bow Leg Hopper
A novel, single-leg, dynamically stabilized planar robot that efficiently traverses rugged terrains under computer control.
We have developed BOWGO (patent pending) - a new kind of pogo stick that bounces higher, farther and more efficiently than conventional devices.
Automates copper processing
Caisson Construction 3D Modeling System (Kajima)
NREC developed a 3D imaging system for underwater excavation and placement of caissons that Kajima Corporation used to support the foundation for the Nagasaki Bay Bridge.
NREC is teaming with Oshkosh Defense to develop autonomous unmanned ground vehicle technologies for logistics tactical wheeled vehicles used by the US Marine Corps.
The CARGO UGV operator control unit (OCU) seamlessly controls one or more CARGO UGVs traveling in convoy formation.
Cell Tracking
We are developing fully-automated computer vision-based cell tracking algorithms and a system that automatically determines the spatiotemporal history of dense populations of cells over extended period of time.
To develop electric vehicles (EVs) that are as efficient and cost-effective as possible, we have taken a systems-level approach to design, prototyping, and analysis to produce formally-modeled active vehicle energy management.
The Chiara is a new, open source educational robot, developed at Carnegie Mellon University's Tekkotsu lab, that will be manufactured and sold by RoPro Design, Inc
Circuit Extraction from MEMS Layout
We are developing a MEMS extraction module which reads in the geometric description of the layout structure and reconstructs the corresponding schematic.
Cluster: Coordinated Robotics for Material Handling
Planetary robots which perform assembly tasks to prepare for human exploration must be able to operate in unmodeled environments and in unanticipated situations. We are working on a system of mobile robots that perform precise coordinated maneuvers for transporting assembly materials. We are also developing an interface that allows an operator to step in at various levels of autonomy, providing the system with both the efficiency of an autonomous system and the reliability of a human operator.
We are developing a model of inter-organizational electronic commerce.
Cohn-Kanade AU-Coded Facial Expression Database
An AU-coded database of over 2000 video sequences of over 200 subjects displaying various facial expressions.
Collaborative Agents
Cooperative robotics
Composable Simulation
Software environment which facilitates creating simulations of mechatronic systems
Comprehensive Automation for Specialty Crops (CASC)
CASC is a multi-institutional initiative led by Carnegie Mellon Robotics Institute to comprehensively address the needs of specialty agriculture focusing on apples and horticultural stock.
Computer Assisted Medical Instrument Navigation
We are developing a system to help clinicians to precisely navigate various catheters inside human hearts.
Constrained Controlled Coverage
Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage.
Container Handling
NREC developed autonomous and semi-autonomous robotic systems for moving containerized plants to and from the field.
Context-based Recognition of Building Components
In this project, we are investigating ways to leverage spatial context for the recognition of core building components, such as walls, floors, ceilings, doors, and doorways for the purpose of modeling interiors using 3D sensor data.
Context-sensitive bicycle and pedestrian detection and tracking
This project supports the development of algorithms to fuse sensor data from cameras, lidar, and radar for the purposes of detecting and tracking pedestrians and bicycles in proximity to autonomous cars.
Cooperative Attack Munition Real Time Assessment (CAMRA)
We are developing the algorithms required to achieve cohesive, flexible and robust coordination of large teams of autonomous Wide Area Search Munitions (WASMs) that can be controlled by a small number of human operators.
Cooperative Robotic Watercraft
This project's vision is to have large numbers of very inexpensive airboats provide situational awareness and deliver critical emergency supplies to flood victims.
The DARPA COORDINATORS program defines a challenging multi-agent application, with agents operating in a highly dynamic environment, where no agent has a complete view of the problem.
Coplanar Shadowgrams for Acquiring Visual Hulls of Intricate Objects
We present a practical approach to shape-from-silhouettes using a novel technique called coplanar shadowgram imaging that allows us to use dozens to even hundreds of views for visual hull reconstruction.
NREC designed and developed the Crusher vehicle to support the UPI program's rigorous field experimentation schedule.
We are developing a curriculum for the Introduction to Computer Science (CS1) course taught at two and four year colleges and for high school Computer Science courses.
CTA Robotics
This project adresses the problems of scene interpretation and path planning for mobile robot navigation in natural environment.