Journal Papers
Book Chapters
Conference Papers
Other
bib
abstract
@Article{ moll2008workshop-on-self-reconfigurable-modular-robots,
author = {Mark Moll and Daniela Rus},
doi = {10.1177/0278364908089348},
journal = {Intl.\ J.\ of Robotics Research},
month = {March/April},
number = {3/4},
pages = {277-278},
title = {Special Issue on Self-Reconfiguring Modular Robots (Guest
Editorial)},
volume = {27},
year = {2008}
}
bib
abstract
@Article{ yim2007modular-self-reconfigurable-robot-systems,
abstract = {The field of modular self-reconfigurable robotic systems
addresses the design, fabrication, motion planning, and
control of autonomous kinematic machines with variable
morphology. Beyond conventional actuation, sensing, and
control typically found in fixed-morphology robots,
self-reconfigurable robots are also able to deliberately
change their own shape by rearranging the connectivity of
their parts in order to adapt to new circumstances, perform
new tasks, or recover from damage. Over the last two
decades, this field has advanced from proof-of-concept
systems to elaborate physical implementations and
simulations. The goal of this article is to outline some of
this progress and identify key challenges and opportunities
that lay ahead.},
author = {Mark Yim and Wei-Min Shen and Benham Salemi and Daniela
Rus and Mark Moll and Hod Lipson and Eric Klavins},
doi = {10.1109/MRA.2007.339623},
journal = {{IEEE} Robotics \& Automation Magazine},
month = mar,
number = {1},
pages = {43--52},
title = {Modular Self-reconfigurable Robot Systems: Challenges and
Opportunities for the Future},
volume = {14},
year = {2007}
}
bib
abstract
@Article{ das2006low-dimensional-free-energy-landscapes,
abstract = {The definition of reaction coordinates for the
characterization of a protein-folding reaction has long
been a controversial issue, even for the ``simple'' case in
which one single free-energy barrier separates the folded
and unfolded ensemble. We propose a general approach to
this problem to obtain a few collective coordinates by
using nonlinear dimensionality reduction. We validate the
usefulness of this method by characterizing the folding
landscape associated with a coarse-grained protein model of
src homology 3 as sampled by molecular dynamics
simulations. The folding free-energy landscape projected on
the few relevant coordinates emerging from the
dimensionality reduction can correctly identify the
transition-state ensemble of the reaction. The first
embedding dimension efficiently captures the evolution of
the folding process along the main folding route. These
results clearly show that the proposed method can
efficiently find a low-dimensional representation of a
complex process such as protein folding.},
author = {Payel Das and Mark Moll and Hernan Stamati and Lydia E.
Kavraki and Cecilia Clementi},
doi = {10.1073/pnas.0603553103},
journal = {Proc.\ Natl.\ Acad.\ of Science USA},
keywords = {reaction coordinate, transition state, manifold,
embedding, ISOMAP, ScIMAP},
month = jun,
number = {26},
pages = {9885--9890},
title = {Low-dimensional, free-energy landscapes of protein-folding
reactions by nonlinear dimensionality reduction},
volume = {103},
year = {2006}
}
bib
abstract
@Article{ moll2006path-planning-for-deformable-linear,
abstract = {We present a new approach to path planning for deformable
linear (one-dimensional) objects such as flexible wires. We
introduce a method for efficiently computing stable
configurations of a wire subject to manipulation
constraints. These configurations correspond to
minimal-energy curves. By restricting the planner to
minimal-energy curves, the execution of a path becomes
easier. Our curve representation is adaptive in the sense
that the number of parameters automatically varies with the
complexity of the underlying curve. We introduce a planner
that computes paths from one minimal-energy curve to
another such that all intermediate curves are also
minimal-energy curves. This planner can be used as a
powerful local planner in a sampling-based roadmap method.
This makes it possible to compute a roadmap of the entire
``shape space,'' which is not possible with previous
approaches. Using a simplified model for obstacles, we can
find minimal-energy curves of fixed length that pass
through specified tangents at given control points. Our
work has applications in cable routing, and motion planning
for surgical suturing and snake-like robots.},
author = {Mark Moll and Lydia E. Kavraki},
doi = {10.1109/TRO.2006.878933},
journal = {{IEEE} Trans.\ on Robotics},
month = aug,
number = {4},
pages = {625--636},
title = {Path Planning for Deformable Linear Objects},
volume = {22},
year = {2006}
}
bib
abstract
@Article{ moll-erdmann2002:manip-pose-distr,
abstract = {For assembly tasks parts often have to be oriented before
they can be put in an assembly. The results presented in
this paper are a component of the automated design of parts
orienting devices. The focus is on orienting parts with
minimal sensing and manipulation. We present a new approach
to parts orienting through the manipulation of pose
distributions. Through dynamic simulation we can determine
the pose distribution for an object being dropped from an
arbitrary height on an arbitrary surface. By varying the
drop height and the shape of the support surface we can
find the initial conditions that will result in a pose
distribution with minimal entropy. We are trying to
uniquely orient a part with high probability just by
varying the initial conditions. We will derive a condition
on the pose and velocity of a simple planar object in
contact with a sloped surface that will allow us to quickly
determine the final resting configuration of the object.
This condition can then be used to quickly compute the pose
distribution. We also present simulation and experimental
results that show how dynamic simulation can be used to
find optimal shapes and drop heights for a given part.},
author = {Mark Moll and Michael A. Erdmann},
doi = {10.1177/027836402320556449},
journal = {Intl.\ J.\ of Robotics Research},
keywords = {pose distributions, parts orienting, dynamic simulation},
month = mar,
number = {3},
pages = {277--292},
title = {Manipulation of Pose Distributions},
volume = {21},
year = {2002}
}
bib
abstract
@Article{ moll+2002:align-parts-micro-assem,
abstract = {Orienting parts that measure only a few micrometers in
diameter introduces several challenges that need not be
considered at the macro-scale. First, there are several
kinds of sticking effects due to Van der Waals forces and
static electricity which complicate hand-off motions and
release of a part. Second, the degrees of freedom of
micro-manipulators are limited. This paper proposes a pair
of manipulation primitives and a complete algorithm that
addresses these challenges. We will show that a sequence of
these two manipulation primitives can uniquely orient any
asymmetric part while maintaining contact without sensing.
This allows us to apply the same plan to many (identical)
parts simultaneously. For asymmetric parts we can find a
plan of length O(n) in O(n) time that orients the part,
where n is the number of vertices.},
author = {Mark Moll and Ken Goldberg and Michael A. Erdmann and Ron
Fearing},
doi = {10.1108/01445150210416673},
journal = {Assembly Automation},
keywords = {micromanipulation, parts orienting, parts feeding,
rolling},
month = feb,
number = {1},
pages = {46--54},
title = {Aligning Parts for Micro Assemblies},
volume = {22},
year = {2002}
}
bib
abstract
@Article{ moll-miikkulainen1997:conver-zone-episod-memor,
abstract = {Human episodic memory provides a seemingly unlimited
storage for everyday experiences, and a retrieval system
that allows us to access the experiences with partial
activation of their components. The system is believed to
consist of a fast, temporary storage in the hippocampus,
and a slow, long-term storage within the neocortex. This
paper presents a neural network model of the hippocampal
episodic memory inspired by Damasio's idea of Convergence
Zones. The model consists of a layer of perceptual feature
maps and a binding layer. A perceptual feature pattern is
coarse coded in the binding layer, and stored on the
weights between layers. A partial activation of the stored
features activates the binding pattern, which in turn
reactivates the entire stored pattern. For many
configurations of the model, a theoretical lower bound for
the memory capacity can be derived, and it can be an order
of magnitude or higher than the number of all units in the
model, and several orders of magnitude higher than the
number of binding-layer units. Computational simulations
further indicate that the average capacity is an order of
magnitude larger than the theoretical lower bound, and
making the connectivity between layers sparser causes an
even further increase in capacity. Simulations also show
that if more descriptive binding patterns are used, the
errors tend to be more plausible (patterns are confused
with other similar patterns), with a slight cost in
capacity. The convergence-zone episodic memory therefore
accounts for the immediate storage and associative
retrieval capability and large capacity of the hippocampal
memory, and shows why the memory encoding areas can be much
smaller than the perceptual maps, consist of rather coarse
computational units, and be only sparsely connected to the
perceptual maps.},
author = {Mark Moll and Risto Miikkulainen},
doi = {10.1016/S0893-6080(97)00016-6},
journal = {Neural Networks},
number = {6},
pages = {1017--1036},
title = {Convergence-Zone Episodic Memory: Analysis and
Simulations},
volume = {10},
year = {1997}
}
bib
abstract
@InCollection{ moll2007roadmap-methods-for-protein-folding,
abstract = {Protein folding refers to the process whereby a protein
assumes its intricate three-dimensional shape. Different
aspects of this problem have attracted much attention in
the last decade. Both experimental and computational
methods have been used to study protein folding and there
has been considerable progress This chapter reviews a class
of methods for studying protein folding called roadmap
methods. These methods are relatively new and are still
under active development. Roadmap methods are computational
methods that have been developed to understand the process
or the mechanism by which a protein folds or unfolds. It is
typically assumed that the folded state is already known.
Note that this is not a comprehensive survey of all
existing computational protein folding methods. In
particular, it does not cover Molecular Dynamics (MD)
methods, Monte Carlo methods (MC), the use of coarse grain
models in simulations and many others. },
author = {Mark Moll and David Schwarz and Lydia E. Kavraki},
booktitle = {Protein Structure Prediction: Methods and Protocols},
edition = {Second},
editor = {Mohammed Zaki and Chris Bystroff},
month = oct,
publisher = {Humana Press},
series = {Methods In Molecular Biology},
title = {Roadmap Methods for Protein Folding},
url = {http://www.springer.com/humana+press/biochemistry/book/978-1-58829-752-5?detailsPage=toc}
,
year = {2007}
}
bib
abstract
@InCollection{ moll-erdmann2003:recon-shape-motion-unknow,
abstract = {We present a method to simultaneously reconstruct the
shape and motion of an unknown smooth convex object. The
object is manipulated by planar palms covered with tactile
elements. The shape and dynamics of the object can be
expressed as a function of the sensor values and the motion
of the palms. We present a brief review of previous results
for the planar case. In this paper we show that the 3D case
is fundamentally different from the planar case, due to
increased tangent dimensionality. The main contribution of
this paper is a shape-dynamics analysis in 3D, and the
synthesis of shape approximation methods via reconstructed
contact point curves.},
author = {Mark Moll and Michael A. Erdmann},
booktitle = {Algorithmic Foundations of Robotics V},
doi = {10.1007/b80173},
editor = {Jean-Daniel Boissonnat and Joel Burdick and Ken Goldberg
and Seth Hutchinson},
keywords = {tactile sensing, shape reconstruction, nonprehensile
manipulation, contact kinematics},
pages = {293--310},
publisher = {Springer Verlag},
title = {Reconstructing the Shape and Motion of Unknown Objects
with Active Tactile Sensors},
year = {2003}
}
bib
abstract
@InCollection{ moll-erdmann2001:manip-pose-distr,
abstract = {For assembly tasks parts often have to be oriented before
they can be put in an assembly. The results presented in
this paper are a component of the automated design of parts
orienting devices. The focus is on orienting parts with
minimal sensing and manipulation. We present a new approach
to parts orienting through the manipulation of pose
distributions. Through dynamic simulation we can determine
the pose distribution for an object being dropped from an
arbitrary height on an arbitrary surface. By varying the
drop height and the shape of the support surface we can
find the initial conditions that will result in a pose
distribution with minimal entropy. We are trying to
uniquely orient a part with high probability just by
varying the initial conditions. We will derive a condition
on the pose and velocity of an object in contact with a
sloped surface that will allow us to quickly determine the
final resting configuration of the object. This condition
can then be used to quickly compute the pose distribution.
We also present simulation and experimental results that
show how dynamic simulation can be used to find optimal
shapes and drop heights for a given part.},
author = {Mark Moll and Michael A. Erdmann},
booktitle = {Algorithmic and Computational Robotics: New Directions},
editor = {Bruce R. Donald and Kevin M. Lynch and Daniela Rus},
keywords = {pose distributions, parts orienting, dynamic simulation},
pages = {127--141},
publisher = {A. K. Peters},
title = {Manipulation of Pose Distributions},
url = {http://www.akpeters.com/book.asp?bID=139},
year = {2001}
}
bib
abstract
@InProceedings{ fofanov2008a-statistical-model-to-correct-systematic,
abstract = {The identification of protein function is crucial to
understanding cellular processes and selecting novel
proteins as drug targets. However, experimental methods for
determining protein function can be expensive and
time-consuming. Protein partial structure comparison
methods seek to guide and accelerate the process of
function determination by matching characterized functional
site representations, motifs, to substructures within
uncharacterized proteins, matches. One common difficulty of
all protein structural comparison techniques is the
computational cost of obtaining a match. In an effort to
maintain practical efficiency, some algorithms employ
efficient geometric threshold-based searches to eliminate
biologically irrelevant matches. Thresholds refine and
accelerate the method by limiting the number of potential
matches that need to be considered. However, because
statistical models rely on the output of the geometric
matching method to accurately measure statistical
significance, geometric thresholds can also artificially
distort the basis of statistical models, making statistical
scores dependant on geometric thresholds and potentially
causing significant reductions in accuracy of the
functional annotation method. This paper proposes a
point-weight based correction approach to quantify and
model the dependence of statistical scores to account for
the systematic bias introduced by heuristics. Using a
benchmark dataset of 20 structural motifs, we show that the
point-weight correction procedure accurately models the
information lost during the geometric comparison phase,
removing systematic bias and greatly reducing
misclassification rates of functionally related proteins,
while maintaining specificity. },
author = {Viacheslav Y. Fofanov and Brian Y. Chen and Drew H. Bryant
and Mark Moll and Olivier Lichtarge and Lydia E. Kavraki
and Marek Kimmel},
booktitle = {{IEEE} Intl.\ Conf.\ on Bioinformatics and Biomedicine
(BIBM)},
doi = {10.1109/BIBMW.2008.4686202},
pages = {1--8},
title = {A Statistical Model to Correct Systematic Bias Introduced
by Algorithmic Thresholds in Protein Structural Comparison
Algorithms},
year = {2008}
}
bib
abstract
@InProceedings{ moll2008labelhash-a-flexible-and-extensible-method,
address = {Toronto, Canada},
author = {Mark Moll and Lydia E. Kavraki},
booktitle = {Automated Function Prediction / BioSapiens Meeting
(AFP-BioSapiens)},
doi = {10.1038/npre.2008.2199.1},
note = {Available from Nature Precedings},
title = {{LabelHash}: A Flexible and Extensible Method for Matching
Structural Motifs},
year = {2008}
}
bib
abstract
@InProceedings{ moll2008matching-of-structural-motifs,
abstract = {There is an increasing number of proteins with known
structure but unknown function. Determining their function
would have a significant impact on understanding diseases
and designing new therapeutics. However, experimental
protein function determination is expensive and very
time-consuming. Computational methods can facilitate
function determination by identifying proteins that have
high structural and chemical similarity. Our focus is on
methods that determine binding site similarity. Although
several such methods exist, it still remains a challenging
problem to quickly find all functionally-related matches
for structural motifs in large data sets with high
specificity. In this context, a structural motif is a set
of 3D points annotated with physicochemical information
that characterize a molecular function. We propose a new
method called LabelHash that creates hash tables of
$n$-tuples of residues for a set of targets. Using these
hash tables, we can quickly look up partial matches to a
motif and expand those matches to complete matches. We show
that by applying only very mild geometric constraints we
can find statistically significant matches with extremely
high specificity in very large data sets and for very
general structural motifs. We demonstrate that our method
requires a reasonable amount of storage when employing a
simple geometric filter and further improves on the
specificity of our previous work while maintaining very
high sensitivity. Our algorithm is evaluated on 20 homolog
classes and a non-redundant version of the Protein Data
Bank as our background data set. We use cluster analysis to
analyze why certain classes of homologs are more difficult
to classify than others. The LabelHash algorithm is
implemented on a web server at
http://kavrakilab.org/labelhash/.},
author = {Mark Moll and Lydia E. Kavraki},
booktitle = {The Seventh Annual International Conference on
Computational Systems Bioinformatics (CSB2008)},
pages = {157-168},
title = {Matching of Structural Motifs Using Hashing on Residue
Labels and Geometric Filtering for Protein Function
Prediction},
url = {http://csb2008.org/csb2008papers/077Moll.pdf},
year = {2008}
}
bib
abstract
@InProceedings{ chen2007representations-of-structural-motifs-for-protein,
address = {Vienna, Austria},
author = {Brian Y. Chen and Drew H. Bryant and Joseph H. Bylund and
Amanda E. Cruess and David M. Kristensen and Viacheslav Y.
Fofanov and Mark Moll and Marek Kimmel and Olivier
Lichtarge and Lydia E. Kavraki},
booktitle = {15th Annual Intl.\ Conf.\ on Intelligent Systems for
Molecular Biology (ISMB) \& 6th European Conf.\ on Comp.\
Bio.\ (ECCB)},
note = {Poster},
title = {Representations of Structural Motifs for Protein Function
Prediction},
url = {http://www.iscb.org/uploaded/css/E108Moll.pdf},
year = {2007}
}
bib
abstract
@InProceedings{ chen2007geometry-inspired-optimization-methods-for-structural,
address = {Vienna, Austria},
author = {Brian Y. Chen and Drew H. Bryant and Viacheslav Y. Fofanov
and David M. Kristensen and Mark Moll and Marek Kimmel and
Olivier Lichtarge and Lydia E. Kavraki},
booktitle = {Automated Function Prediction Meeting (AFP)},
note = {Poster},
title = {Geometry-inspired Optimization Methods for Structural
Motifs for Protein Function Prediction},
url = {http://compbio.iupui.edu/afp/2007/files/afp-biosap-2007-full-program.pdf}
,
year = {2007}
}
bib
abstract
@InProceedings{ moll2006distributed-control-of-the-center-of-mass,
abstract = {We present a distributed controller for the center of mass
of a modular robot. This is useful for locomotion of a
modular robot over uneven and unknown terrain. By
controlling the center of mass, a robot can prevent itself
from falling over. We present a distributed and
decentralized algorithm that computes the mass properties
of the robot. Additionally, each module also computes the
mass properties of the modules that are directly or
indirectly connected to each of its connectors. With this
information, each module can independently steer the center
of mass towards a desired position by adjusting its joint
positions. We present simulation results that show the
feasibility of the approach.},
address = {Beijing, China},
author = {Mark Moll and Peter Will and Maks Krivokon and Wei-Min
Shen},
booktitle = {Proc.\ 2006 {IEEE/RSJ} Intl.\ Conf.\ on Intelligent Robots
and Systems},
doi = {10.1109/IROS.2006.282261},
month = oct,
pages = {4710--4715},
title = {Distributed Control of the Center of Mass of a Modular
Robot},
year = {2006}
}
bib
abstract
@InProceedings{ salemi2006superbot,
abstract = {Self-reconfigurable robots are modular robots that can
autonomously change their shape and size to meet specific
operational demands. Recently, there has been a great
interest in using self-reconfigurable robots in
applications such as reconnaissance, rescue missions, and
space applications. Designing and controlling
self-reconfigurable robots is a difficult task. Hence, the
research has primarily been focused on developing systems
that can function in a controlled environment. This paper
presents a novel self-reconfigurable robotic system called
SuperBot, which addresses the challenges of building and
controlling deployable self-reconfigurable robots. Six
prototype modules have been built and preliminary
experimental results demonstrate that SuperBot is a
flexible and powerful system that can be used in
challenging real-world applications.},
address = {Beijing, China},
author = {Behnam Salemi and Mark Moll and Wei-Min Shen},
booktitle = {Proc.\ 2006 {IEEE/RSJ} Intl.\ Conf.\ on Intelligent Robots
and Systems},
doi = {10.1109/IROS.2006.281719},
keywords = {prl},
month = oct,
pages = {3636--3641},
title = {{SUPERBOT}: A Deployable, Multi-Functional, and Modular
Self-Reconfigurable Robotic System},
year = {2006}
}
bib
abstract
@InProceedings{ moll-kavraki2005:path-plann-variab-resol,
abstract = {We present a new approach to path planning for flexible
wires. We introduce a method for computing stable
configurations of a wire subject to manipulation
constraints. These configurations correspond to
minimal-energy curves. The representation is adaptive in
the sense that the number of parameters automatically
varies with the complexity of the underlying curve. We
introduce a planner that computes paths from one
minimal-energy curve to another such that all intermediate
curves are also minimal-energy curves. Using a simplified
model for obstacles, we can find minimal-energy curves of
fixed length that pass through specified tangents at given
control points. Our work has applications in motion
planning for surgical suturing and snake-like robots.},
author = {Mark Moll and Lydia E. Kavraki},
booktitle = {Proc.\ 2005 {IEEE} Intl.\ Conf.\ on Robotics and Automation},
keywords = {path planning, minimal-energy curves, subdivision},
pages = {2142--2147},
title = {Path Planning for Variable Resolution Minimal-Energy
Curves of Constant Length},
url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570428}
,
year = {2005}
}
bib
abstract
@InProceedings{ moll-kavraki2004:path-plann-minim-energ,
abstract = {In this paper we present a new path planning technique for
a flexible wire. We first introduce a new parametrization
designed to represent low-energy configurations. Based on
this parametrization we can find curves that satisfy
endpoint constraints. Next, we present three different
techniques for minimizing energy within the self-motion
manifold of the curve. We introduce a local planner to find
smooth minimal energy deformations for these curves that
can be used by a general path planning algorithm. Using a
simplified model for obstacles, we can find minimal energy
curves of fixed length that pass through specified tangents
at given control points. Finally, we show that the
parametrization introduced in this paper is a good
approximation of true minimal energy curves. Our work has
applications in surgical suturing and snake-like robots.},
author = {Mark Moll and Lydia E. Kavraki},
booktitle = {Proc.\ 2004 {IEEE} Intl.\ Conf.\ on Robotics and Automation},
doi = {10.1109/ROBOT.2004.1307489},
keywords = {path planning, curve parametrization, minimal energy
curves},
pages = {2826--2831},
title = {Path Planning for Minimal Energy Curves of Constant
Length},
year = {2004}
}
bib
abstract
@InProceedings{ moll-erdmann2002:dynam-shape-recon-using,
abstract = {We present new results on reconstruction of the shape and
motion of an unknown object using tactile sensors without
requiring object immobilization. A robot manipulates the
object with two flat palms covered with tactile sensors. We
model the full dynamics and prove local observability of
the shape, motion and center of mass of the object based on
the motion of the contact points as measured by the tactile
sensors.},
author = {Mark Moll and Michael A. Erdmann},
booktitle = {Proc.\ 2002 {IEEE} Intl.\ Conf.\ on Robotics and Automation},
doi = {10.1109/ROBOT.2002.1014777},
keywords = {shape reconstruction, tactile sensing, observability},
pages = {1636--1641},
title = {Dynamic Shape Reconstruction Using Tactile Sensors},
year = {2002}
}
bib
abstract
@InProceedings{ moll+2002:orien-micro-scale-parts,
abstract = {Orienting parts that measure only a few micrometers in
diameter introduces several challenges that need not be
considered at the macro-scale. First, there are several
kinds of sticking effects due to Van der Waals forces and
static electricity which complicate hand-off motions and
release of a part. Second, the degrees of freedom of
micro-manipulators are limited. This paper proposes a pair
of manipulation primitives and a complete algorithm that
addresses these challenges. We will show that a sequence of
these two manipulation primitives can uniquely orient any
asymmetric part while maintaining contact without sensing.
This allows us to apply the same plan to many (identical)
parts simultaneously. For asymmetric parts we can find a
plan of length O(n) in O(n) time that orients the part,
where n is the number of vertices.},
author = {Mark Moll and Ken Goldberg and Michael A. Erdmann and Ron
Fearing},
booktitle = {Proc.\ 2002 {IEEE} Intl.\ Conf.\ on Robotics and Automation},
doi = {10.1109/ROBOT.2002.1014823},
keywords = {micromanipulation, parts orienting, rolling},
pages = {1931--1936},
title = {Orienting Micro-Scale Parts with Squeeze and Roll
Primitives},
year = {2002}
}
bib
abstract
@InProceedings{ moll-erdmann2001:recon-shape-motion-using,
abstract = {We present a new method to reconstruct the shape of an
unknown object using tactile sensors without requiring
object immobilization. Instead, the robot manipulates the
object without prehension. The robot infers the shape,
motion and center of mass of the object based on the motion
of the contact points as measured by tactile sensors. Our
analysis is supported by simulation and experimental
results.},
address = {Maui, HI},
author = {Mark Moll and Michael A. Erdmann},
booktitle = {Proc.\ 2001 {IEEE/RSJ} Intl.\ Conf.\ on Intelligent Robots
and Systems},
doi = {10.1109/IROS.2001.976250},
keywords = {tactile sensing, shape reconstruction, contact
kinematics},
month = {October/November},
pages = {691--700},
title = {Reconstructing Shape from Motion Using Tactile Sensors},
year = {2001}
}
bib
abstract
@InProceedings{ moll-erdmann2000:uncer-reduc-using-dynam,
abstract = {For assembly tasks parts often have to be oriented before
they can be put in an assembly. The results presented in
this paper are a component of the automated design of parts
orienting devices. The focus is on orienting parts with
minimal sensing and manipulation. We present a new approach
to parts orienting through the manipulation of pose
distributions. Through dynamic simulation we can determine
the pose distribution for an object being dropped from an
arbitrary height on an arbitrary surface. By varying the
drop height and the shape of the support surface we can
find the initial conditions that will result in a pose
distribution with minimal entropy. We are trying to
uniquely orient a part with high probability just by
varying the initial conditions. We will derive a condition
on the pose and velocity of an object in contact with a
sloped surface that will allow us to quickly determine the
final resting configuration of the object. This condition
can then be used to quickly compute the pose distribution.
We also show simulation and experimental results that
confirm that our dynamic simulator can be used to find the
true pose distribution of an object.},
address = {San Francisco, California},
author = {Mark Moll and Michael A. Erdmann},
booktitle = {Proc.\ 2000 {IEEE} Intl.\ Conf.\ on Robotics and Automation},
doi = {10.1109/ROBOT.2000.845304},
keywords = {pose distributions, parts orienting, dynamic simulation},
pages = {3673--3680},
title = {Uncertainty Reduction Using Dynamics},
year = {2000}
}
bib
abstract
@InProceedings{ ter+1996:languag-engin-dialog-system,
abstract = {The analysis of natural language in the context of
keyboard-driven dialogue systems is the central issue
addressed in this paper. A module that corrects typing
errors, performs domain-specific morphological analysis is
developed. A parser for typed unification grammars has been
designed and implemented in C++; for description of the
lexicon and the grammar a suitable specification language
has been developed. It is argued that typed unification
grammars and especially the newly developed specification
language are convenient formalisms for describing natural
language use in dialogue systems. Finally we present a
dialogue manager that is based on a finite state automaton;
transitions in the automaton depend upon availability of
information in utterances of the user. In order to keep
track of the history of the dialogue, a context stack is
constructed during the dialogue. The manager is implemented
in Prolog. },
address = {Houston, TX},
author = {Ter Doest, Hugo and Mark Moll and Ren{\'e} Bos and Van de
Burgt, Stan and Anton Nijholt},
booktitle = {Computers in Engineering Symposium},
pages = {68--79},
title = {Language Engineering in Dialogue Systems},
year = {1996}
}
bib
abstract
@InProceedings{ op+1995:parsin-dialog-system-typed,
abstract = {The analysis of natural language in the context of
keyboard-driven dialogue systems is the central issue
addressed in this paper. A module that corrects typing
errors, performs domain-specific morphological analysis is
developed. A parser for typed unification grammars is
designed and implemented in C++; for description of the
lexicon and the grammer a specialised specification
language is developed. It is argued that typed unification
grammars and especially the newly developed specification
language are convenient formalisms for describing natural
language use in dialogue systems. Research on these issues
is carried out in the context of the Schisma project, a
research project in linguistic engineering; participants in
Schisma are KPN Research and the University of Twente.},
address = {Prague/Karlovy Vary, Czech Republic},
author = {Op den Akker, Rieks and Ter Doest, Hugo and Mark Moll and
Anton Nijholt},
booktitle = {Proceedings of the International Workshop on Parsing
Technologies},
title = {Parsing in Dialogue Systems using Typed Feature
Structures},
year = {1995}
}
bib
abstract
@InProceedings{ moll+1994:capac-conver-zone-episod,
abstract = {Human episodic memory provides a seemingly unlimited
storage for everyday experiences, and a retrieval system
that allows us to access the experiences with partial
activation of their components. This paper presents a
neural network model of episodic memory inspired by
Damasio's idea of Convergence Zones. The model consists of
a layer of perceptual feature maps and a binding layer. A
perceptual feature pattern is coarse coded in the binding
layer, and stored on the weights between layers. A partial
activation of the stored features activates the binding
pattern which in turn reactivates the entire stored
pattern. A worst-case analysis shows that with
realistic-size layers, the memory capacity of the model is
several times larger than the number of units in the model,
and could account for the large capacity of human episodic
memory.},
address = {Cambridge, MA},
author = {Mark Moll and Risto Miikkulainen and Jonathan Abbey},
booktitle = {Proc.\ 12th Natl. Conf.\ on Artificial Intelligence
(AAAI-94)},
doi = {10.1109/ICNN.1994.375017},
pages = {68--73},
publisher = {MIT Press},
title = {The Capacity of Convergence-Zone Episodic Memory},
year = {1994}
}
bib
abstract
@InProceedings{ shen2007multifunctional-and-reconfigurable-superbot-modules,
author = {Wei-Min Shen and Behnam Salemi and Mark Moll and Chi Ho
Chiu and Jacob Everist and Feili Hou and Nadeesha
Ranasinghe and Michael Rubenstein},
booktitle = {Proc.\ 2007 {IEEE/RSJ} Intl.\ Conf.\ on Intelligent Robots
and Systems},
note = {(video)}
,
title = {Multifunctional Behaviors of Reconfigurable SuperBot
Modules},
year = {2007}
}
bib
abstract
@TechReport{ moll+2004:dockin-flexib-ligan,
abstract = {The activity of most drugs is regulated by the binding of
one molecule (the ligand) to a pocket of another, usually
larger, molecule, which is commonly a protein. This report
describes a new approach to creating low-energy structures
of flexible proteins to which ligands can be docked. The
flexibility of molecules is encoded with thousands of
parameters making the search for valid complexes a
formidable problem. Our method takes into account the
flexibility of the protein as this can be encoded by its
major modes of motion. The output of the program consists
of low-energy protein conformations that can then be docked
with a ligand using a traditional docking program. We
employ a robotics-based approach for exploring the
conformational space of the protein. Our long term goal is
to develop an efficient, accurate, and automated algorithm
that will be used to screen large databases of molecules
for novel therapeutics.},
address = {Houston, TX},
author = {Mark Moll and David Schwarz and Allison Heath and Lydia E.
Kavraki},
institution = {Rice University},
number = {04-443},
title = {On Flexible Docking Using Expansive Search},
year = {2004}
}
bib
abstract
@PhDThesis{ moll2002:shape-recon-using-activ,
abstract = {We present a new method to reconstruct the shape of an
unknown object using tactile sensors, without requiring
object immobilization. Instead, sensing and nonprehensile
manipulation occur simultaneously. The robot infers the
shape, motion and center of mass of the object based on the
motion of the contact points as measured by the tactile
sensors. This allows for a natural, continuous interaction
between manipulation and sensing. We analyze the planar
case first by assuming quasistatic dynamics, and present
simulation results and experimental results obtained using
this analysis. We extend this analysis to the full dynamics
and prove observability of the nonlinear system describing
the shape and motion of the object being manipulated. In
our simulations, a simple observer based on Newton's method
for root finding performs really well. Using the same
framework we can also describe the shape and dynamics of
three-dimensional objects. However, there are some
fundamental differences between the planar and
three-dimensional case, due to increased tangent
dimensionality. Also, perfect global shape reconstruction
is impossible in the 3D case, but it is almost trivial to
obtain upper and lower bounds on the shape. The 3D shape
reconstruction method has also been implemented and we
present some simulation results.},
address = {Pittsburgh, PA},
author = {Mark Moll},
keywords = {tactile sensing, shape reconstruction, nonprehensile
manipulation},
month = jul,
school = {Computer Science Department, Carnegie Mellon University},
title = {Shape Reconstruction Using Active Tactile Sensors},
year = {2002}
}
bib
abstract
@TechReport{ moll-erdmann2001:shape-recon-planar-dynam,
abstract = {We present a a new method to reconstruct the shape of an
unknown object using tactile sensors, without requiring
object immobilization. Instead, sensing and nonprehensile
manipulation occur simultaneously. The robot infers the
shape, motion and center of mass of the object based on the
motion of the contact points as measured by the tactile
sensors. We present analytic results and simulation results
assuming quasistatic dynamics. We prove that the shape and
motion are observable in both the quasistatic and the fully
dynamic case.},
author = {Mark Moll and Michael A. Erdmann},
institution = {Dept. of Computer Science, Carnegie Mellon University},
keywords = {tactile reconstruction, contact kinematics, nonlinear
observer theory, tactile sensing},
number = {CMU-CS-01-107},
title = {Shape Reconstruction in a Planar Dynamic Environment},
year = {2001}
}
bib
abstract
@TechReport{ moll1996:mappin-scien,
address = {Leiden, the Netherlands},
author = {Mark Moll},
institution = {Centre for Science and Technology Studies (CWTS)},
month = {August},
note = {Research report to the Netherlands Organization for
Scientific Research (NWO), Foundation for Economic and
Socio-Cultural Sciences (ESR)},
number = {96-06},
title = {Mapping Science: Methods and Tools for the Automatic
Creation of Semantic Maps of Large Corpora},
type = {Report CWTS},
year = {1996}
}
bib
abstract
@TechReport{ ter-doest1996language-engineering-in-dialogue-systems,
abstract = {The analysis of natural language in the context of
keyboard-driven dialogue systems is the central issue
addressed in this paper. A module that corrects typing
errors, performs domain-specific morphological analysis is
developed. A parser for typed unification grammars has been
designed and implemented in C++; for description of the
lexicon and the grammar a suitable specification language
has been developed. It is argued that typed unification
grammars and especially the newly developed specification
language are convenient formalisms for describing natural
language use in dialogue systems. Finally we present a
dialogue manager that is based on a finite state automaton;
transitions in the automaton depend upon availability of
information in utterances of the user. In order to keep
track of the history of the dialogue, a context stack is
constructed during the dialogue. The manager is implemented
in Prolog. },
author = {Ter Doest, Hugo and Mark Moll and Ren{\'e} Bos and Van de
Burgt, Stan and Anton Nijholt},
institution = {Department of Computer Science, University of Twente},
month = jan,
number = {96-2},
title = {Language Engineering in Dialogue Systems},
type = {Memoranda Informatica},
year = {1996}
}
bib
abstract
@MastersThesis{ moll1995:head-parsin-typed-featur,
abstract = {In this report a description will be given of how typed
feature structures can be specified. A specification
language will be presented for the specification of types,
words and grammar rules. An unification algorithm for typed
feature structures as well as an algorithm to compute the
least upper bound relation for a type lattice will be
given. Finally, a head-corner parsing schema for typed
feature structures will be presented.},
author = {Mark Moll},
school = {Department of Computer Science, University of Twente},
title = {Head-corner Parsing Using Typed Feature Structures},
year = {1995}
}
bib
abstract
@TechReport{ op+1995:parsin-dialog-system-typed-tr,
abstract = {The analysis of natural language in the context of
keyboard-driven dialogue systems is the central issue
addressed in this paper. A module that corrects typing
errors and performs domain-specific morphological analysis
has been developed. A parser for typed unification grammars
is designed and implemented in C++; for description of the
lexicon and the grammer a specialised specification
language has been developed. It is argued that typed
unification grammars and especially the newly developed
specification language are convenient formalisms for
describing natural language use in dialogue systems.
Research on these issues is carried out in the context of
the Schisma project, a research project of the Parlevink
group in linguistic engineering; participants in Schisma
are KPN Research and the University of Twente. The aims of
the Schisma project are twofold: both the accumulation of
knowledge in the field of computational linguistics and the
development of a natural language interfaced theatre
information and booking system is envisaged. The Schisma
project serves as a testbed for the development of the
various language analysis modules necessary for dialogue
systems.},
author = {Op den Akker, Rieks and Ter Doest, Hugo and Mark Moll and
Anton Nijholt},
institution = {Department of Computer Science, University of Twente},
number = {95-25},
title = {Parsing in Dialogue Systems using Typed Feature
Structures},
type = {Memoranda Informatica},
url = {http://eprints.eemcs.utwente.nl/9891/},
year = {1995}
}