@article{richmond_cole_dangler_daniele_marchitto_lobaton_2022, title={Forabot: Automated Planktic Foraminifera Isolation and Imaging}, volume={23}, ISSN={["1525-2027"]}, url={http://dx.doi.org/10.1029/2022gc010689}, DOI={10.1029/2022GC010689}, abstractNote={Abstract}, number={12}, journal={GEOCHEMISTRY GEOPHYSICS GEOSYSTEMS}, publisher={American Geophysical Union (AGU)}, author={Richmond, Turner and Cole, Jeremy and Dangler, Gabriella and Daniele, Michael and Marchitto, Thomas and Lobaton, Edgar}, year={2022}, month={Dec} }
 @article{cole_bozkurt_lobaton_2021, title={Simultaneous Localization of Biobotic Insects using Inertial Data and Encounter Information}, ISSN={["1558-4615"]}, url={http://dx.doi.org/10.1109/embc46164.2021.9629542}, DOI={10.1109/EMBC46164.2021.9629542}, abstractNote={Several recent research efforts have shown that the bioelectrical stimulation of their neuro-mechanical system can control the locomotion of Madagascar hissing cockroaches (Gromphadorhina portentosa). This has opened the possibility of using these insects to explore centimeter-scale environments, such as rubble piles in urban disaster areas. We present an inertial navigation system based on machine learning modules that is capable of localizing groups of G. portentosa carrying thorax-mounted inertial measurement units. The proposed navigation system uses the agents’ encounters with one another as signals of opportunity to increase tracking accuracy. Results are shown for five agents that are operating on a planar (2D) surface in controlled laboratory conditions. Trajectory reconstruction accuracy is improved by 16% when we use encounter information for the agents, and up to 27% when we add a heuristic that corrects speed estimates via a search for an optimal speed-scaling factor.}, journal={2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC)}, publisher={IEEE}, author={Cole, Jeremy and Bozkurt, Alper and Lobaton, Edgar}, year={2021}, pages={4649–4653} }
 @article{cole_bozkurt_lobaton_2020, title={Localization of Biobotic Insects Using Low-Cost Inertial Measurement Units}, volume={20}, ISSN={["1424-8220"]}, url={https://doi.org/10.3390/s20164486}, DOI={10.3390/s20164486}, abstractNote={Disaster robotics is a growing field that is concerned with the design and development of robots for disaster response and disaster recovery. These robots assist first responders by performing tasks that are impractical or impossible for humans. Unfortunately, current disaster robots usually lack the maneuverability to efficiently traverse these areas, which often necessitate extreme navigational capabilities, such as centimeter-scale clearance. Recent work has shown that it is possible to control the locomotion of insects such as the Madagascar hissing cockroach (Gromphadorhina portentosa) through bioelectrical stimulation of their neuro-mechanical system. This provides access to a novel agent that can traverse areas that are inaccessible to traditional robots. In this paper, we present a data-driven inertial navigation system that is capable of localizing cockroaches in areas where GPS is not available. We pose the navigation problem as a two-point boundary-value problem where the goal is to reconstruct a cockroach’s trajectory between the starting and ending states, which are assumed to be known. We validated our technique using nine trials that were conducted in a circular arena using a biobotic agent equipped with a thorax-mounted, low-cost inertial measurement unit. Results show that we can achieve centimeter-level accuracy. This is accomplished by estimating the cockroach’s velocity—using regression models that have been trained to estimate the speed and heading from the inertial signals themselves—and solving an optimization problem so that the boundary-value constraints are satisfied.}, number={16}, journal={SENSORS}, publisher={MDPI AG}, author={Cole, Jeremy and Bozkurt, Alper and Lobaton, Edgar}, year={2020}, month={Aug} }
 @inproceedings{dirafzoon_bethhauser_schornick_cole_bozkurt_lobaton_2014, title={Poster abstract: Cyborg-insect networks for mapping of unknown environments}, DOI={10.1109/iccps.2014.6843729}, abstractNote={Cyborg-insect networks are systems that take advantage of existing biological platforms such as cockroaches [2] by attaching small instrumented payloads for sensing and motion control. These agents can be used in applications such as mapping and exploration of environment for emergency response (e.g., search and rescue operations after earthquakes, tsunamis, hurricanes, etc.) These agents can gain access to locations that may not be reachable otherwise by moving underground through smaller locations. The power limitations of such platforms place restrictions on sensing, communication, and motion control. Hence, traditional mapping and exploration techniques may not perform well under these adverse conditions. We propose a robust approach to obtain a topological map of an unknown environment using the coordinate free sensory data obtained from these cyborg-insect networks. In order to minimize control input, we take advantage of the natural behavior of insects in order to estimate a topological model of the environment based only on neighbor-to-neighbor interactions.}, booktitle={2014 acm/ieee international conference on cyber-physical systems (iccps)}, author={Dirafzoon, A. and Bethhauser, J. and Schornick, J. and Cole, J. and Bozkurt, A. and Lobaton, Edgar}, year={2014}, pages={216–216} }
 @inproceedings{betthauser_benavides_schornick_o'hara_patel_cole_lobaton_2014, title={WolfBot: A distributed mobile sensing platform for research and education}, url={http://dx.doi.org/10.1109/aseezone1.2014.6820632}, DOI={10.1109/aseezone1.2014.6820632}, abstractNote={Mobile sensor networks are often composed of agents with weak processing capabilities and some means of mobility. However, recent developments in embedded systems have enabled more powerful and portable processing units capable of analyzing complex data streams in real time. Systems with such capabilities are able to perform tasks such as 3D visual localization and tracking of targets. They are also well-suited for environmental monitoring using a combination of cameras, microphones, and sensors for temperature, air-quality, and pressure. Still there are few compact platforms that combine state of the art hardware with accessible software, an open source design, and an affordable price. In this paper, we present an in-depth comparison of several mobile distributed sensor network platforms, and we introduce the WolfBot platform which offers a balance between capabilities, accessibility, cost and an open-design. Experiments analyzing its computer-vision capabilities, power consumption, and system integration are provided.}, booktitle={Proceedings of the 2014 Zone 1 Conference of the American Society for Engineering Education}, publisher={IEEE}, author={Betthauser, Joseph and Benavides, Daniel and Schornick, Jeff and O'Hara, Neal and Patel, Jimit and Cole, Jeremy and Lobaton, Edgar}, year={2014}, month={Apr} }