publications

2021

1. Duco: Autonomous Large-Scale Direct-Circuit-Writing (DCW) on Vertical Everyday Surfaces Using A Scalable Hanging Plotter

   Cheng, Tingyu, Li, Bu, Zhang, Yang, Li, Yunzhi, Ramey, Charles, Jung, Eui Min, Cui, Yepu, Swaminathan, Sai Ganesh, Do, Youngwook, Tentzeris, Manos, Abowd, Gregory D., and Oh, HyunJoo

   Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. 2021

   Abs

   Human environments are filled with large open spaces that are separated by structures like walls, facades, glass windows, etc. Most often, these structures are largely passive offering little to no interactivity. In this paper, we present Duco, a large-scale electronics fabrication robot that enables room-scale & building-scale circuitry to add interactivity to vertical everyday surfaces. Duco negates the need for any human intervention by leveraging a hanging robotic system that automatically sketches multi-layered circuity to enable novel large-scale interfaces. The key idea behind Duco is that it achieves single-layer or multi-layer circuit fabrication on 2D surfaces as well as 2D cutouts that can be assembled into 3D objects by loading various functional inks (e.g., conductive, dielectric, or cleaning) to the wall-hanging drawing robot, as well as employing an optional laser cutting head as a cutting tool. Our technical evaluation shows that Duco’s mechanical system works reliably on various surface materials with a wide range of roughness and surface morphologies. The system achieves superior mechanical tolerances (0.1mm XY axis resolution and 1mm smallest feature size). We demonstrate our system with five application examples, including an interactive piano, an IoT coffee maker controller, an FM energy-harvester printed on a large glass window, a human-scale touch sensor and a 3D interactive lamp.

2. MARS: Nano-Power Battery-Free Wireless Interfaces for Touch, Swipe and Speech Input

   Arora, Nivedita, Mirzazadeh, Ali, Moon, Injoo, Ramey, Charles, Zhao, Yuhui, Rodriguez, Daniela C., Abowd, Gregory D., and Starner, Thad

   In The 34th Annual ACM Symposium on User Interface Software and Technology 2021

   Abs

   Augmenting everyday surfaces with interaction sensing capability that is maintenance-free, low-cost (∼ $1), and in an appropriate form factor is a challenge with current technologies. MARS (Multi-channel Ambiently-powered Realtime Sensing) enables battery-free sensing and wireless communication of touch, swipe, and speech interactions by combining a nanowatt programmable oscillator with frequency-shifted analog backscatter communication. A zero-threshold voltage field-effect transistor (FET) is used to create an oscillator with a low startup voltage (∼ 500 mV) and current (< 2uA), whose frequency can be affected through changes in inductance or capacitance from the user interactions. Multiple MARS systems can operate in the same environment by tuning each oscillator circuit to a different frequency range. The nanowatt power budget allows the system to be powered directly through ambient energy sources like photodiodes or thermoelectric generators. We differentiate MARS from previous systems based on power requirements, cost, and part count and explore different interaction and activity sensing scenarios suitable for indoor environments.

2020

1. Ice Topography Reconstruction and Panoramic Stitching using Forward Looking Sonar Images

   Spears, Anthony, Meister, Matthew, Ramey, Charles, Lawrence, Justin, Dichek, Daniel, Washam, Peter, and Schmidt, Britney E.

   In Global Oceans 2020: Singapore – U.S. Gulf Coast 2020
2. Europa in Our Backyard: Under Ice Robotic Exploration of Antarctic Analogs

   Schmidt, BE, Lawrence, JD, Meister, MR, Dicheck, DJG, Hurwitz, BC, Spears, A, Mullen, AD, Washam, PM, Bryson, FE, Quartini, E, and others,

   LPI 2020

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2019

1. Ocean-Glacier Interactions in the McMurdo Sound: Lessons for Deep Ice on Ocean Worlds?

   Schmidt, BE, Lawrence, JD, Meister, MR, Dichek, DJD, Ramey, CD, Hurwitz, B, Spears, AM, Mullen, AD, Bryson, FE, Buffo, JJ, and others,

   LPICo 2019

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2. Observations of Variable Basal Ice Morphology in Antarctica

   Lawrence, JD, Schmidt, BE, Meister, MR, Dichek, DJG, Ramey, CD, Hurwitz, B, Spears, AM, Mullen, AD, Bryson, FE, Buffo, JJ, and others,

   LPICo 2019

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3. Water Circulation and Microbial Diversity in Antarctic Ocean World Analog Environments

   Lawrence, Justin, Schmidt, Britney E, Glass, Jennifer B, Hamerton, Emily K, Bowman, Jeff Shovlowsky, Lawrence, Jade P, Meister, Matthew Ryan, Dichek, Daniel, Ramey, Charles, Mullen, Andrew David, and others,

   In 2019 Astrobiology Science Conference 2019

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4. Digital Holographic Microscopy for the Icefin Underwater Vehicle: Initial Progress and Future Steps

   Mullen, Andrew David, Schmidt, Britney E, Dichek, Daniel, Lawrence, Justin, Meister, Matthew Ryan, Ramey, Charles, Bryson, Frances E, Hobbs, Tiegan E, Spears, Anthony, Hurwitz, Ben, and others,

   In 2019 Astrobiology Science Conference 2019

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5. In Situ Observations of the Erebus Glacier Tongue Grounding Zone by the Icefin HROV.

   Schmidt, Britney, Lawrence, Justin, Meister, Matthew, Dichek, Daniel, Ramey, Charles, Spears, Anthony, Mullen, Andrew, Hurwitz, Benjamin, Bryson, Frances, and Hobbs, Tiegan

   In Geophysical Research Abstracts 2019

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6. A Middleware Bridge Between MOOS and LCM

   Spears, Anthony, Meister, Matthew, Ramey, Charles, and Schmidt, Britney E

   In OCEANS 2019 MTS/IEEE SEATTLE 2019

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2018

1. Under Ice Robotic Exploration of the McMurdo Sound and Ross Ice Shelf

   Schmidt, BE, Lawrence, JD, Meister, MR, Dichek, DJG, Ramey, CD, Hurwitz, BC, Lutz, JJ, Lawrence, JP, Spears, A, Glass, BJ, and others,

   LPICo 2018

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2. Wear-a-CUDA: a GPU based dolphin whistle recognizer for underwater wearable computers

   Ramey, Charles, Gilliliand, Scott, Kolhsdorf, Daniel, and Starner, Thad

   In Proceedings of the 2018 ACM International Symposium on Wearable Computers 2018

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3. Modular Controls and Instrumentation Software for Icefin ROV

   Ramey, Charles, Meister, Matthew, Spears, Anthony, Lutz, Josh, Dichek, Daniel, Hurwitz, Ben, Lawrence, Justin, Lawrence, Jade, Philleo, Margaret, and Schmidt, Britney E

   In OCEANS 2018 MTS/IEEE Charleston 2018

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4. Icefin: Redesign and 2017 Antarctic Field Deployment

   Meister, Matthew, Dichek, Daniel, Spears, Anthony, Hurwitz, Ben, Ramey, Charles, Lawrence, Justin, Philleo, Kit, Lutz, Josh, Lawrence, Jade, and Schmidt, Britney E

   In OCEANS 2018 MTS/IEEE Charleston 2018

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5. Life Under Ice: Antarctic Ocean World Analogs with HROV Icefin and RISE UP

   Lawrence, Justin, Schmidt, Britney E, Meister, Matthew Ryan, Dichek, Daniel, Ramey, Charles, Hurwitz, Ben, Spears, Anthony, Mullen, Andrew, Bryson, Frances E, Lutz, Joshua J, and others,

   AGUFM 2018

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2017

1. What’s Cooler Than Being Cool? Icefin: Robotic Exploration Beneath Antarctic Ice Shelves

   Lawrence, Justin, Schmidt, Britney E, Meister, Matthew Ryan, Glass, Jennifer B, Bowman, Jeff Shovlowsky, Stockton, Amanda M, Dichek, Daniel, Hurwitz, Ben, Ramey, Charles, Spears, Anthony, and others,

   AGUFM 2017

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