Marsette Vona: Index

[Shady shading me]
 
I'm a Ph.D. student studying robotics and computer science at the Massachusetts Institute of Technology. From 2001 to 2003, I took a break from being a graduate student and worked at NASA's Jet Propulsion Laboratory on technology development to support Mars exploration, including the 2003 Mars Exploration Rover mission. I do both software and hardware.

About Me

My Resume  
Contacting Me  

Robots

ADMIN   A human interface device for the JPL ATHLETE robot
Shady   Shady is a climbing robot window shade with some interesting extensions
Crystal   A self-reconfigurable robot I developed with Daniela Rus when we were at Dartmouth (also see here and here)
Molecule   Another self-reconfigurable robot I worked on with Daniela Rus and Keith Kotay when we were at Dartmouth

Photos

Australia  
California  
Vermont and New Hampshire  
Objects On My Head  
Food and Cooking  

Theses

Uncertainty and Cooperation in Hyper-Modular Robots   My PhD proposal
Metrology Techniques for Compound Rotary-Linear Motion   My MS Thesis
A Two-Dimensional Crystalline Atomic Unit Modular Self-Reconfigurable Robot   My Undergraduate Thesis (errata)

   

Software

Maestro   The Science Activity Planner and its public version, Maestro, for the Mars Exploration Rover Mission (co-winner, 2004 NASA Software of the Year Award)
BRBrain   Remote Brain firmware and Java library for the Robotis Bioloid
XSim   Simulator for Crystalline robots
ShadySim   Simulator for the Shady climbing robot window shade project
MultiShadySim   Simulator for a Reconfiguring Robot extension of Shady
My Java Utilities   Some general purpose Java utilities
Locality Sensitive Hashing   Animates the Locality Sensitive Hashing [IM98] algorithm
Reflector   Design and simulate axisymmetric reflectors with 2D and 3D visualization
Visolate   Compute (Voronoi) PCB isolation routing toolpaths
EPICAC Javascript encoder/decoder   EPICAC is a nice old Vonnegut story
X Window Adobe Reader reload script   a total hack, but it works for me. Useful with pdflatex. You will need either xte or xse also.

Other Projects

DNE digital music player   A scratch-built in-headphone miniature removable media digital music player
Boogie Bass Hack   Boogie Bass talking fish, modified to include a re-recordable message
illyBed   and matching nightstand!
laptop fillet   a slim handmade all-aluminum vertical workstation for multiple removable laptops
LCD Desk   handmade all-aluminum desk with integral dual 19" LCD monitors
Workbenches   solid workbenches made with inexpensive wood
Annotated Links   Only the cream of the crop (geometry only)

Publications

Self-assembling Mobile Linkages with Passive and Active Modules   Carrick Detweiler, Marsette Vona, Yeoreum Yoon, Seung-kook Yun, Daniela Rus   (IEEE RAM 2007)
Shady: Robust Truss Climbing With Mechanical Compliances   Marsette Vona, Carrick Detweiler, Daniela Rus   (ISER 2006)
Hierarchical Control for Self-assembling Mobile Trusses with Passive and Active Links   Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus   (ICRA 2006)
Mars Exploration Rover Operations with the Science Activity Planner   Jeffrey S. Norris, Mark W. Powell, Marsette A. Vona, Paul G. Backes, Justin V. Wick   (ICRA 2005)
Scientific Visualization for the Mars Exploration Rovers   Mark W. Powell, Jeffrey S. Norris, Marsette A. Vona, Paul G. Backes, Justin V. Wick   (ICRA 2005)
Voronoi toolpaths for PCB mechanical etch: Simple and intuitive algorithms with the 3D GPU   Marsette A. Vona, Daniela Rus   (ICRA 2005)
Distributed Operations for the Mars Exploration Rover Mission with the Science Activity Planner   Justin V. Wick, John L. Callas, Jeffrey S. Norris, Mark W. Powell, Marsette A. Vona, III   (IEEEAC 2005)
Multi-mission Activity Planning for Mars Lander and Rover Missions   Paul G. Backes, Jeffrey S. Norris, Mark W. Powell, Marsette A. Vona   (IEEEAC 2004)
The Science Activity Planner for the Mars Exploration Rover Mission   Paul G. Backes, Jeffrey S. Norris, Mark W. Powell, Marsette A. Vona, Robert Steinke, Justin Wick   (IEEEAC 2003)
Visualization of Coregistered Imagery for Remote Surface Operations   Mark W. Powell, Paul G. Backes, Marsette A. Vona, Jeffrey S. Norris   (IEEEAC 2003)
Challenges in 3D Visualization for Mars Exploration Rover Mission Science Planning   Marsette A. Vona, III, Paul G. Backes, Jeffrey S. Norris, Mark W. Powell   (IEEEAC 2003)
A Rotary-Linear Hybrid Machine Tool Axis   Michael K. Liebman, Marsette A. Vona, David L. Trumper   (NSF DMII 2001)
Self-reconfiguring Robots   Daniela Rus, Zack Butler, Keith Kotay, Marsette Vona   (CACM 45(3) 2002)
Crystalline Robots: Self-reconfiguration with Compressible Unit Modules   Daniela Rus, Marsette Vona   (AR 10(1) 1/2001)
Using Modular Self-reconfiguring Robots for Locomotion   Keith Kotay, Daniela Rus, Marsette Vona   (ISER 2000)
A Basis for Self-reconfiguring Robots using Crystal Modules   Daniela Rus, Marsette Vona   (IROS 2000)
A Basis for Self-Repair Robots Using Self-Reconfiguring Crystal Modules   Robert Fitch, Daniela Rus, Marsette Vona   (IAS 2000)
A Physical Implementation of the Self-reconfigurable Crystalline Robot   Daniela Rus, Marsette Vona   (ICRA 2000)
Self-reconfiguration Planning with Compressible Unit Modules   Daniela Rus, Marsette Vona   (ICRA 1999)
The Self-reconfiguring Robotic Molecule   Keith Kotay, Daniela Rus, Marsette Vona, Craig McGray   (ICRA 1998)
The Self-reconfiguring Robotic Molecule: Design and Control Algorithms   Keith Kotay, Daniela Rus, Marsette Vona, Criag McGray   (WAFR 1998)

 
vona@mit.edu © 2008 Marsette Vona Sun Apr 27 16:49:40 EDT 2008