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Creators/Authors contains: "Balkcom, Devin"

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  1. ; ; ; ; ; ; (, ACM)
    Free, publicly-accessible full text available April 25, 2026
  2. ; ; ; ; (, IEEE)
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  3. ; ; (, IEEE)
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  4. ; ; ; ; ; ; ; ; ; (, IEEE Robotics and Automation Letters)
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  5. ; ; ; ; ; ; ; (, IEEE Robotics and Automation Letters)
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  6. ; ; (, IEEE Transactions on Automation Science and Engineering)
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  7. ; ; ; ; ; (, Robotics: Science and Systems)
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  8. ; ; ; ; ; ; ; (, Proceedings of Robotics: Science and Systems)
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  9. ; ; ; ; ; (, Ocean)
    null (Ed.)
    This paper presents an optimized design of research-oriented ASVs and a systematic design evaluation methodology for reliable in-water sensing. The objective is to minimize the interference on sensor readings by any ASV maneuver. The design space includes motors and sensors locations. In addition, this paper analyzes modularity - i.e., the effects of new sensor's installation. All prototype designs are thoroughly tested using hydrostatic analyses, Computational Fluid Dynamics (CFD) simulations, and real-world field testings. Quantitative metrics, including trim, pitch, velocity magnitude of flow, and turbulence, are used to compare different configurations. Our experiments show that a motor configuration at the back part of the straights hulls is the most optimal design, resulting in high-quality data collection. 
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  10. ; (, Workshop on the Algorithmic Foundations of Robotics)
    This paper presents a design for interlocking blocks and an algorithm that allows these blocks to be assembled into desired shapes. During and after assembly, the structure is kinematically interlocked if a small number of blocks are immobilized relative to other blocks. There are two types of blocks: cubes and double-height posts, each with a particular set of male and female joints. Layouts for shapes involving thousands of blocks have been planned automatically, and shapes with several hundred blocks have been built by hand. As a proof of concept, a robot was used to assemble sixteen blocks. The paper also describes a method for assembling blocks in parallel. 
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    Accepted Manuscript Full Text Available