Jedediyah Williams

willij16 [AT] rpi.edu

I am a PhD candidate in Computer Science at Rensselaer Polytechnic Institute, where I work with Prof. Jeff Trinkle in the CS Robotics Lab.

I was awarded a National Science Foundation GK-12 Fellowship in 2011, and worked with Prof. Ron Eglash and Prof. Mukkai Krishnamoorthy on the Triple Helix project.

In summer 2012, I was a visiting scholar at the Autonomous Intelligent Systems Lab, University Freiburg, where I worked on stochastic characterization and modeling of traction on granular terrain for mobile robots.
Research Interests:
   Multibody dynamics and simulation
   Collision detection and contact determination
   Robotic manipulation and grasping
   Transit analysis and discovery techniques of extrasolar planets
   Effective use of technologies in the classroom

EDUCATION
  • Ph.D. Computer Science, Rensselaer Polytechnic Institute, anticipated 2014.
  • B.S. Computer Systems Engineering, University of Massachusetts, Amherst, 2006.

RESEARCH
  • Research Assistant - DARPA Robotics Challenge (DRC), team TROOPER, Spring 2013 - Present.
  • Research Assistant - DARPA Maximum Mobility and Manipulation (M3), Fall 2012 - Spring 2013.
  • Visiting Scholar - Autonomous Intelligent Systems Lab, University Freiburg, Germany, Summer 2012.
  • GK-12 Fellow - Awarded National Science Foundation GK-12 fellowship, Summer 2011 - Spring 2012.
  • Researcher - Maria Mitchell Observatory, Spring 2008 - Spring 2010.

Active projects
DARPA Robotics
Challenge
RPI-MATLAB-Simulator WPI Sample Return
Challenge
Simulation data standard


TEACHING
  • Graduate Teaching Assistant - CSCI-1100 - Computer Science I, with CS department chair Prof. Martin Hardwick [Spring 2011].
  • Graduate Teaching Assistant - CSCI-1010 - Introduction to Computer Programming, with Andrew Schoch [Fall 2010].
  • Physics Teacher - Nantucket High School, Fall 2006 - Spring 2010.


PUBLICATIONS:
J. Williams, Y. Lu, and J.C. Trinkle. A complementarity based contact model for geometrically accurate treatment of polytopes in simulation. ASME International Design & Engineering Technical Conferences and Computers & Information in Engineering (IDETC/CIE) 2014.

Y. Lu, J. Williams, C. Lacoursiere, and J.C. Trinkle. A framework for problem standardization and algorithm comparison in multibody dynamics. ASME International Design & Engineering Technical Conferences and Computers & Information in Engineering (IDETC/CIE) 2014.

J.Williams, Y.Lu, J.C. Trinkle. A complementarity based contact model for accurate treatment of polytopes in simulation. Invited talk at BIRS workshop on Computational Contact Mechanics: Advances and Frontiers in Modeling Contact, February 20, 2014.

Y.Lu, J.Williams, J.C. Trinkle. A framework for problem standardization and algorithm comparison in multibody dynamics. Invited talk at BIRS workshop on Computational Contact Mechanics: Advances and Frontiers in Modeling Contact, February 20, 2014.

D.M. Flickinger, J. Williams and J.C. Trinkle. Performance of a Method for Formulating Geometrically Exact Complementarity Constraints in Multibody Dynamic Simulation. To appear, Journal of Computational and Nonlinear Dynamics, 2014.

J. Williams, Y. Lu, S. Niebe, M. Andersen, K. Erleben, J.C. Trinkle. RPI-MATLAB-Simulator: A tool for efficient research and practical teaching in multibody dynamics. Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS), 2013.

Y. Lu, J. Williams, C. Lacoursiere, and J.C. Trinkle. Standard interface for data analysis of solvers in multibody dynamics. 4th Canadian Conference on Nonlinear Solid Mechanics (CanCNSM ), 2013.

D.M. Flickinger, J. Williams and J.C. Trinkle. Evaluating the performance of constraint formulations for multibody dynamics simulation. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIEC), 2013.

D.M. Flickinger, J. Williams and J.C. Trinkle. What's wrong with collision detection in multibody dynamics simulation? IEEE Conference on Robotics and Automation, 2013.

J. Williams, B. Frank, W. Burgard, J.C. Trinkle. Stochastic characterization of traction on granular terrain. Technical Report 12-06, Department of Computer Science, Rensselaer Polytechnic Institute. December, 2012.

M. Bedell, A. Villaume, L. Weiss, D. Sliski, V. Strelnitski, G. Walker, J. Williams, A. Henden, and T. Krajci. Monitoring Hα emission and continuum of UXORs: RR Tauri. The Astronomical Journal 142 164, 2011.



CONFERENCE PRESENTATIONS, POSTERS, and REPORTS:
J. Williams, Jun Dong, D.M. Flickinger, J.C. Trinkle. Team TROOPER in the Darpa Robotics Challenge (DRC). Rensselaer Polytechnic Institute CS poster session. April 4, 2014

J. Williams, J.C. Trinkle. A stable and geometrically accurate contact model. Rensselaer Polytechnic Institute CS poster session. April 4, 2014

Y. Lu, J. Williams, J.C. Trinkle. Using different simulation algorithms to predict physical experiments. Rensselaer Polytechnic Institute CS poster session. April 4, 2014

Y. Lu, J. Williams, J.C. Trinkle. Standard interface for solver comparison in multibody dynamics. 9th annual New England Manipulation Symposium (NEMS) hosted by Harvard. May, 2013

J. Williams, Y. Lu, J.C. Trinkle. Improving multibody dynamics. RPI Copmuter Science poster session. March, 2013.

D.M. Flickinger, J. Williams, J.C. Trinkle. Evaluating the Performance of Constraint Formulations for Multibody Dynamics Simulation. ASME International Design Engineering Technical Conferences (IDETC), 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Portland, Oregon, 2013.

D.M. Flickinger, J. Williams, J.C. Trinkle. Simulation Accuracy and Computational Performance of a Rotating Slender Rod Impacting a Bed of Rocks. 4th Canadian Conference on Nonlinear Solid Mechanics (CanCNSM), Montreal, Canada, 2013.

D.M. Flickinger, J. Williams, J.C. Trinkle. What's Wrong with Collision Detection in Multibody Dynamics Simulation? IEEE International Conference on Robotics and Automation (ICRA) in Karlsruhe, Germany, 2013.

Stochastic characterization of traction on granular terrain. DARPA Maximum Mobility and Manipulation (M3) annual PI meeting, Philadelphia, PA, July, 2012.

Y. Lu, J. Williams, D.M. Flickinger, J.C. Trinkle. High performance multibody dynamic simulation for robot traction characterization. 8th annual New England Manipulation Symposium (NEMS) hosted by iRobot. May, 2012

A. Villaume, M. Bedell, V. Strelnitski, G. Walker, J. Williams, A. Henden, T. Krajci. Monitoring Hα emission and Continuum in RR Tauri with Narrowband Filters. American Astronomical Society, AAS Meeting #217, #340.27; Bulletin of the American Astronomical Society, Vol. 43, 2011

S. Marshall, J. Williams, T. Mazeh, G. Walker, V. Strelnitski. Using Sys-Rem as an alternative photometry technique. 215th Meeting of the American Astronomical Society (AAS), Washington D.C. January, 2010. A talk was also given in Oct 2009 by Vladimir Strelnitski Ph.D. at B.V. Kukarkin Centenary Conference, Zvenigorod, Russia.

J. Williams, M. Davidson, G. Walker, V. Strelnitski. Improving the precision of differential photometry on a determined target using SysRem. 213th meeting of (AAS) Long Beach, CA. January, 2009.

J. Williams, G. Walker, V. Strelnitski. Observations of exoplanets at Maria Mitchell Observatory. 97th meeting of the American Association of Variable Star observers (AAVSO), Nantucket, MA, October, 2008.


HONORS
  • Honored for "valuable contribution to the Nantucket Public Schools" by the Nantucket School Committee (2010).
  • Honored for "valuable contribution to the Nantucket Public Schools" by the Nantucket School Committee (2009).
  • Nominated by superintendent Dr. Robert Pellicone for the Presidential Award for Excellence in Mathematics and Science Teaching (2009).
  • Awarded the 2014 McKinney Contest 1st prize for graduate poetry.