Dissertation

• Simpkins (2009), Exploratory studies of human sensorimotor learning with system identification and stochastic optimal control (Dissertation - PDF)

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Pre-prints

• Simpkins, 3D Hierarchical optimal control for complex object manipulation. (Manuscript under review)

• Simpkins, Design and analysis of a very low cost active EEG system for research. (Manuscript under review)

• Simpkins, and Kelley, The Design of an Integrated Touch and Force Sensor for Robotic Manipulation Studies. (Manuscript under review)

• Simpkins, Modeling, System Identification, and Control of a bio-mimetic modular robots for manipulation and locomotion. (Manuscript under review)

• Simpkins and Liu. Stochastic optimal control methods for uncertain predictive reaching movements (Manuscript under review)

• Simpkins. Visuo-motor channels for hand shaping. (Manuscript under review)

Book Chapters and Books in process (working with a publisher) or published

• Simpkins (2012). Real-Time Control in Robotic Systems, Robotic Systems - Applications, Control and Programming, Ashish Dutta (Ed.), ISBN: 978-953-307-941-7, InTech, (Chapter - PDF, in press, link to publisher page here)

• Simpkins, Robotic systems: from theory to practice. Radiant Dolphin Press (In process)

• Simpkins, Modelling and Data Analysis, Radiant Dolphin Press (In process)

• Simpkins, Control Theory in simple and complex systems. Radiant Dolphin Press (In process)

Peer reviewed papers

• Simpkins, Towards methods for robotic systems capable of human-level dexterity in manipulation and locomotion. International Conference on Mechatronic System and Measurement Technology, ICMSMT 2012. (Invited Keynote Paper - PDF)
  • Movie1 (mpeg) - grasping and tracking

• Simpkins, Kelley, and Todorov (2011), Modular bio-mimetic robots that can interact with the world the way we do. In the Proceedings of the International Conference of Robotics and Automation (ICRA) 2011. ( Abstract - HTML | Paper - PDF)

• Simpkins and Todorov (2011), Complex Object Manipulation with Hierarchical Optimal Control. Proceedings of the SSCI International Symposium of Adaptive Dynamic Programming and Reinforcement Learning (ADPRL) 2011. (Paper - PDF | Presentation - (zipped) PPT) | Presentation - PDF (no animation))
  • Movie1-Grasping (mpeg)
  • Movie2 - Optimal positions/forces (ideal) (mpeg)
  • Movie3 - State-dependent force field determines contact breaking and trajectories (mpeg (smaller) or AVI (better clarity but 28MB) )
  • Movie4 - Grasping with contact breaking (mpeg)

• Todorov, Hu, Simpkins, and Movellan (2010), Identification and control of a pneumatic robot. Proceedings of the BIOROB 2010. (Paper - PDF) | ( movie1-m4v)

• Simpkins and Todorov, Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors. Proceedings of the ACC 2010, The 29th American Control Conference. (Paper - PDF)

• Simpkins and Todorov, Practical numerical methods for stochastic optimal control of biological systems in continuous time and space, IEEE International Symposium of Adaptive Dynamic Programming and Reinforcement Learning, Nashville, 2009. (Paper - PDF) | (Presentation - PDF)

• Simpkins, de Callafon, and Todorov. "Optimal trade-off between exploration and exploitation," Proceedings of the ACC 2008, The 27th American Control Conference, Seattle, WA, 2008. (Paper - PDF )

Peer reviewed abstracts

• Simpkins and Todorov (2010), The optimal trade-off between exploration and exploitation in active sensing, 17th Joint Symposium on Neural Computation, UCLA (Abstract).

• Simpkins (2010), Optimal Control Theory : the New Self-actualization. APA Convention, 2010. (Abstract - HTML)

• Simpkins (2007), Optimal tradeoff between exploration and exploitation in human movement. 14th Southern California Nonlinear Control Workshop (Presentation) (Abstract - PDF)

Presentations and workshops

• Simpkins and Rau, "Addressing the challenges of interdisciplinarity," Inter-Science of Learning Center conference (iSLC), San Diego, 2012. (PDF of slides)

• Simpkins, Seeing with new eyes : Applied science of color theory, perception, projections, shapes, and compositing. Cleveland Institute of Art (CIA). Clevaland, Ohio, 2012. (PDF | VIDEOS - available soon)

• Simpkins, Modern challenges in robotics: complexity, dynamics, and control. 2011 Changzhou International forum on science and technology & foreign trade and economic cooperation. Changzhou, China, 2011.

• Simpkins, Design for application: A constrained approach. Invited talk, Nanjing University of Science and Technology (NJUST), Nanjing China, 2011.
  • Slides and videos (PDF| PPT| VIDEOS | ALL-zipped into one file)
    • (Currently available only to authorized users, due to some restrictions on the media, but check back or email to request the slides if you don't have access)
  • The videos presently require Apple Quicktime (Mac/Win)

• Simpkins, Simpkins, and Simpkins, How we can create lasting successful international collaborations. Invited talk (part 1), Southeast University. Nanjing China, 2011.
  • Slides and videos (PDF| PPT | VIDEOS | ALL-zipped into one file)
    • (Currently available only to authorized users, due to some restrictions on the media, but check back or email to request the slides if you don't have access)
  • The videos presently require Apple Quicktime (Mac/Win)

• Simpkins, Constrained design for biomimetic robotics development and control. Invited talk (part 2), Southeast University. Nanjing China, 2011.
  • Slides and videos (PDF| PPT | VIDEOS | ALL-zipped into one file)
    • (Currently available only to authorized users, due to some restrictions on the media, but check back or email to request the slides if you don't have access)
  • The videos presently require Apple Quicktime (Mac/Win)

 

• Simpkins, Modern methods and new developments of modular biomimetic robots. Invited talk, Tongji University. Shanghai, China, 2011.

• Slides and videos (PDF| VIDEOS | ALL-zipped into one file)
  • (Currently available only to authorized users, due to some restrictions on the media, but check back or email to request the slides if you don't have access)
• The videos presently require Apple Quicktime (Mac/Win)

• Simpkins, A hierarchical optimal control scheme for complex object manipulation. Presentation, TDLC All Hands Meeting. UCSD, 2011(Video on the science network)

• Simpkins, System identification: An overview. Inivted talk. MPLAB, CALIT2, UCSD. 2010

• Simpkins, Making the Most of Your Post-Doc. Invited panelist. 2nd Annual PhD Career Conference, UCSD 2010

• Simpkins, The journey that lies ahead: What to expect during the path a graduate student must walk. (Seminar) Mechanical and Aerospace Engineering Department, University of California, San Diego, 2009. (Presentation - PDF)

• Simpkins, Kelley, and Todorov, ModBot Finger, ModBot Leg, Force Sensor, and Electronics (Presentation) EFRI Workshop (2009)

• Simpkins, CogSci 109: Modeling and Data Analysis. (Presentation Guest Lecture - Invited) UCSD 2009

• Simpkins (2007), Stability: How it relates to why things go wrong and what can be done about it. UCSD CSSA 2007 Conference "When things go wrong" (Invited talk) (Presentation - PDF)

• Simpkins, CogSci 109: Modelling and Data Analysis. (Course) UCSD Dept. of Cognitive Science ( Course- 2007)

• Simpkins, Optimal Tradeoff Between Exploration and Exploitation in Human Movement Tasks with Uncertainty (Presentation), UCSD SICL (2007)

• Simpkins, CogSci 109: Modelling and Data Analysis. (Course) UCSD Dept. of Cognitive Science ( Course - 2006)

• Simpkins, Method survey and Analysis: Suboptimal Feedback Control by a Scheme of Iterative Identification and Control Design (Presentation), UCSD Movement Control Laboratory (2006)

• Simpkins, Modeling and Identification of Sensorimotor Processes in Biological Systems (Presentation), UCSD System Identification and Control Lab (SICL), Advisor Prof. Raymond de Callafon.(2006)

• Simpkins, The Cerebellum, An introduction to structure and function (Presentation) UCSD Movement Control Lab (2005)

• Simpkins, Quantification of the  learning process in the human sensorimotor system (Presentation) Senate Examination, UCSD Dept. of MAE (2005)

• Simpkins, Digital Video Editing Techniques and Tricks. (Presentation) UCSD Dept. of MAE Instructional Presentation (2003)

• Simpkins and Li, Control theory:Classical through modern (Presentation) UCSD CogSci 260 (2003)

• Simpkins, Parametric design with Pro/Engineer (Pro-E) (Presentation/With online tutorial) UCSD MAE 152: Computer Graphics for Engineers and Scientists. (2003)

• todorovlab meetings (numerous)

• presentation in UCSD CogSci Department about control theory (definition, history, development, and applications)- (invited talk, 2003)

Posters

• Simpkins and Todorov (2011), A hierarchical optimal control scheme for complex object manipulation, NSF iSLC 2011 (Abstract/Poster)

• Simpkins, Kelley, and Todorov (2010), Biologically Inspired Modular Robots, NSF TDLC presentation

• Simpkins and Todorov (2010), The optimal trade-off between exploration and exploitation in active sensing. The 17th Joint symposium on neural computation (Abstract/Poster)

• Simpkins, Todorov and de Callafon (2008), Active exploration: modeling humans in exploration/exploitation sensorimotor tasks using stochastic optimal control , UCSD JSOE Graduate Symposium 2008

• Simpkins and Todorov (2008), Learning at the optimal time, Modeling active exploration with dynamic feedback control (II). NSF TDLC presentation

• Todorov and Simpkins (2007), Optimality of Active Sensing, Cosyne (Abstract)

• Simpkins, Todorov and de Callafon (2007), A Nonlinear Stochastic Optimal Control Model of Active Exploration, UCSD JSOE Graduate Symposium 2007

Tutorials, etc.

• Simpkins. Introduction to Analog to Digital Conversion, and how to connect a serially interfaced A/D chip to a microprocessor. January 2005. (LINK (HTML))

• Simpkins. A how-to tutorial for basic texture mapping using OpenGL. September 2003. (PDF) (files - download files [texture.c texture.h] mac zip windows zip)

• Simpkins, Parametric design with Pro/Engineer (Pro-E) (Tutorial) UCSD MAE 152: Computer Graphics for Engineers and Scientists. (2003)

Artistic

(Under construction)

• Designs for Marquetry used in book art, 'The Chakras,' Yoga Therapy. Radiant Dolphin Press Publishers

• Designs for Marquetry used in book art, 'The Tao,' Radiant Dolphin Press Publishers

• Designs for Marquetry used in book art, 'Empty Cup,' Radiant Dolphin Press Publishers

• Designs for Marquetry used in book art, 'Illusions,' Radiant Dolphin Press Publishers

• Design for 'Mandalla' used in book art, Simple Tibetan Budhism. Radiant Dolphin Press Publishers

• Book cover design and art, A perfect world: The ROM files. Radiant Dolphin Press Publishers

• Book cover design and art, Self-Hypnosis for Women. Radiant Dolphin Press Publishers

• Journal cover art. Cortex special issue on TMS, 2009. (invited)

• Gallery page