We conduct basic research in computer vision and machine learning, and work in a number of interdisciplinary areas: developmental and social psychology, autism research, mobile health, and robotics. The Institute for Robotics & Intelligent Machines (IRIM) participates in numerous K-12 STEM and community outreach activities related to robotics. Robotics initially attracted me as an approach to tackling the grand challenges of artificial intelligence (AI). B.S. Information, Legal Forecasting of space weather disruptions to the power grid, GPS, and communications, merging ML models with physics-based models of the Sun-Earth system. Georgia Tech's Financial Services Innovation Lab is located in the heart of the Technology Square Innovation ecosystem. The Energy, Policy, and Innovation Center operates as a division of the Strategic Energy Institute at the Georgia Institute of Technology. We recommend you look at our publications to see our most recent work. We work closely with domain experts in these topics and design novel methods and tools cutting-across network science, combinatorial and stochastic optimization, data mining, AI and simulation areas. The Robotarium is a $2.5 million facility funded by the National Science Foundation and Office of Naval Research. Our work is in the intersection of learning methods for sensor processing and robotics, developing novel machine learning algorithms and formulations towards solving some of the more difficult perception problems in these areas. The Biomedical Robotics research focus area is centered on the design, development, and evaluation of medical robotics systems and smart assistive robotic platforms that enhance the physical capabilities of both patients and clinicians via advancements in mechanical design, modeling and control, sensors and instrumentation, computing, and image processing. Georgia Institute of Technology (Georgia Tech) Georgia Tech's Institute for Robotics and Intelligent Machines (IRIM) focuses on developing robots that can perform various tasks, ranging from assisting with surgery to exploring other planets. Aug 23, 2017 Atlanta, GA The nation's first remote robotics lab, and the nearly 100 machines that call it home, is now open thanks to a little help from its friends. ATTN: Name of Person I recommend you go to my labs website and look around. Apply to Georgia Tech: Typically students working in the Socially Intelligent Machines lab are in the CS or Robotics PhD programs, some have been ECE PhD students as well. Theology - yea; Leadership class , week 3 executive summary; EKG Review for ICU clinical; Biomol Project Report; I am doing my essay on the Ted Talk titaled How One Photo Captured a Humanitie Crisis https; School-Plan - School Plan of San Juan Integrated School; ANSC 422 Lecture 2 - Dr. Kleinman The lab acts as a platform to connect and bring together faculty and students across Georgia Tech with the financial services industry and FinTech entrepreneurs. 404-660-2926, North AvenueAtlanta, GA 30332 Atlanta, GA 30332 Robotics Laboratory . We focus on providing capacities for monitoring & change detection, diagnosis, and prediction & prognosis. The Intelligent Robotics and Emergent Automation Lab at Georgia Tech conducts research at the intersection of vehicle design, dynamic analysis, and control system engineering toward the overall goal of developing and improving actively-controlled robotic systems. Whether you join as a strategic partner, an affiliate, or as a member of one of our customized consortia, your company will be supported through our work as a interdisciplinary group of robotics leaders. Appropriately, a scissor-wielding robot (named Snips) cut the ribbon. As consumer demands and competitive requirements drive more complex, higher-efficiency, and enhanced-performance materials solutions, we continue to push the frontiers of the physical limitations of many of the materials in use. The Internet and its applications are now essential to all aspects of society, including national security, economic exchange, infrastructure, and social and political communication. Our core research interests are in data science, machine learning and AI. The Robotarium team conducted several experiments, including flying quadcopters able to change formation without crashing into each other. AMBER Lab is led by Prof. Aaron Ames, is devoted to both theoretical and experimental research in bipedal robotics, locomotion, nonlinear and hybrid systems, and prosthetic design. . Includes stellar structure, nucleosynthesis, stellar evolution, and degenerate objects. GA Tech Home; 2022-2023 Catalog. Below is a list of labs affiliated with ML@GT. The mission of the Center is to improve the fundamental understanding of the science and technology of advanced PV devices, to fabricate record high efficiency solar, North Avenue Neuroscience-focused Researchers Jeffrey Markowitz and Anqi Wu Awarded 2023 Sloan Fellowship. Robotics and computational perception research at Georgia Tech encompasses engineering to machine learning and locomotion to autonomous ethical behavior in robotic machines. Charles C. Kemp (Charlie Kemp) directs the lab, which he founded in September of 2007. Just aboutwe use are made from combinations of metals, ceramics, polymers, and natural materials. FIRST-YEAR ROBOT . Tech Temp - Research Support. North AvenueAtlanta, GA 30332 & Ph.D. programs include both coursework and research with faculty members in various units across campus. Healthcare Robotics Lab. We approach these applications from a data-driven viewpoint, and invent new inter-disciplinary methodologies bridging models/domain knowledge (e.g. GT Home Print Options . I am currently an Assistant Professor in the School of Interactive Computing and a core faculty member of the Institute for Robotics and Intelligent Machines (IRIM) at Georgia Tech.. Group workson selected topics on the intersection between computer vision and robotics. We innovate scalable, interactive, and interpretable tools that amplify human's ability to understand and interact with billion-scale data and machine learning models. Download the Robotarium's Matlab or Python simulator. Georgia Tech PoWeR Lab. Theory Seminar - June Vuong . Local & visiting speakers. Our goal is to help the electric utility industry solve the everyday problems associated withtransmitting and distributing electric energy reliably and efficiently. What is Jupyter Labs. The Dynamic Adaptive Robotic Technologies (DART) Lab, led by Dr. Anirban Mazumdar, is focused on a diverse set of research problems related to human augmentation, variable traction, grasping, mobile robotics, autonomous aerial flight, drilling instrumentation, robotic design, controls, and much more. Interested in artificial intelligence (AI). Additionally, IRIM hosts tours throughout the year, and our student group, RoboGrads, participates in activities to raise awareness of the importance of robotics technology and stimulate interest in the field. I lead the RobotIcs Perception and Learning (RIPL) lab. Oct. 11, 2019 Matthew Gombolay gave keynote for the Southeastern Robotics Symposium. We are also very involved with the Robotics Ph.D. program at Georgia Tech. The Healthcare Robotics Lab is affiliated with the Institute for Robotics and Intelligent Machines. Computer-Enabled Abilities Laboratory . The Institute for Robotics and Intelligent Machines at Georgia Tech supports and facilitates the operation of several core research facilities on campus allowing our faculty, students and collaborators to advance the boundaries of robotics research. Log in. Our work is on creating a model that is riobust, adapts to new and different data, reliable, and generalizable. A new study from researchers at the Georgia Institute of Technology and Emory University is taking the first step in tackling the balance problem. Ultrasound Biophysics la PI: Costas D. Arvanitis . At Georgia Tech, he plans to study "full-stack" autonomy. A first introduction to wave mechanics, with emphasis on practical calculations. +1 404.894.2000 Preparation for a professional career in Robotics. Our lab is part of the Department of Biomedical Engineering at Georgia Tech and Emory University. The Center, under the direction ofDr. Ajeet Rohatgi, reports through Georgia Techs Office of Interdisciplinary Programs. Alphabet's overall profit fell 21 percent last year to $60 billion as spending on Google ads slowed, and activist investors have been clamoring for the company to make cuts. Georgia Tech robotics expert Charlie Kemp poses with his robot Stretch RE1 from Hello Robot, Inc. Robots like Stretch REI will be used in the TRI research to improve how people and robots work together. The Robotarium is solving that. We work on developing a theoretical understanding of Reinforcement Learning (RL) algorithms using finite time guarantees. Core research topics in this area . surveillance). I joined Georgia Tech in 2006, where my research has focused onenabling robots to provide intelligent physical assistance in the context of healthcare. Abramson Lab. PhD. The study of human social and cognitive behavior is a cross-cutting theme. Atlanta, GA 30332 CPL domains of interest include computer vision/perception, computer graphics, computer animation, human-computer interaction, digital special effects, artificial intelligence, pattern recognition, machine learning, robotics, aware home/environments, audio processing, ubiquitous computing/sensing, eldercare technologies, motion analysis, and computational music. We work on human-centered AI research that requires understanding people to make progress on hard problems. The IMDL. +1 404.894.2000 Gigatechnologies are the largest engineered systems. They will have a lower barrier to entry and are often recruiting students with CS skills. Zulfiqar Zaidi, Nathaniel Belles, Arjun Krishna, and Kin Man Lee, from the CORE Robotics Wheelchair Tennis Robot (WTR) Team, demonstrating a robot table tennis strike to local boy scouts during an outreach event. Toggle menu. Humanoid Robotics Lab, College of Computing Targeted towards improving the capabilities of humanoids beyond the capacity of humans. In July of 2020, after 3 years of stealthy effort, Hello Robot Inc.revealed the robot Stretch. RIM@Georgia Tech is helping define the new face of computing through a unique emphasis on education and research providing a theoritcal and applied . The CDEwasestablished at Georgia Tech with financial support from the Georgia Research Alliance and Georgia Tech to do advanced research and to develop technologies and holistic solutions that can transform electricity delivery and utilization. Our current work is addressing this challenge via unique design and system modeling approaches: one direction of research is to develop soft, flexible sensing technologies that can be directly incorporated into soft actuators to estimate actuator deformations and applied forces in real-time without extra cumbersome hardware; The other direction The MS in Robotics will be an interdisciplinary program offered collaboratively by six schools in the Colleges of Computing, Engineering and Sciences: Aerospace Engineering Biomedical Engineering Electrical and Computer Engineering Interactive Computing Mechanical Engineering Physics Whitaker Bldg COPE creates the opportunity for disruptive technologies by developing new materials with emergent properties and by providing new paradigms for device design and fabrication. "Bud" Peterson and Rafael Bras (provost and executive vice president for Academic Affairs). Our research seeks to advance the capabilities of real robots so that they can provide valued assistance to people. The School of Cybersecurity and Privacy (SCP) is Georgia Techs home for the research and education of cybersecurity and privacy. IMDL and Friends. Network Science, Network Neuroscience, Neuro-inspired AI. Our current research thrusts: human-centered AI (interpretable, fair, safe AI; adversarial ML); large graph visualization and mining; cybersecurity; and social good (health, energy). While its interests span across a wide range of research problems, the BBISS is particularly focused on the emerging science ofGigatechnology. Atlanta, GA 30332 The Dynamic Adaptive Robotic Technologies (DART) Lab, led by Dr. Anirban Mazumdar, is focused on a diverse set of research problems related to human augmentation, variable traction, grasping, mobile robotics, autonomous aerial flight, drilling instrumentation, robotic design, controls, and much more. Attend Events Discover events happening on campus or in your area. I recommend you go to my lab's website and look around. Although based on the campus of Georgia Tech, the center will tap into regional and national expertise within academia, businesses, non-governmental organizations (NGO), and research facilities. Included are system simulations, and test and evaluations related to threat radars, missiles, air and ground vehicles, unmanned and autonomous systems, transportation systems, power and energy systems, acoustics, flow control, and food processing technologies. 313 Ferst Dr Redox Systems Biology Lab. . Technology. During his Ph.D. work at Michigan, he developed Reachability-based Trajectory Design, or RTD. Optimization, Machine Learning, and Algorithmic Fairness. Installing Jupyter Labs. Fundamental research includes expertise in mechanics, control, perception,artificial intelligenceand cognition, interaction, and systems. Our work is focused in two of our research centers and labs: The Robotics and Intelligent Machines (RIM) Center at Georgia Tech and the Computational Perception Lab (CPL). This website is under continuing development. Markdown. The Georgia Tech Center for Organic Photonics and Electronics (COPE) is a premier national and resource center that creates flexible organic photonic and electronic materials and devices that serve the information technology, telecommunications, energy, and defense sectors. The Ben T. ZinnCombustion Laboratory is a state of the art research facility dedicated to the study of combustion and fluid mechanical phenomena, and is home to the largest gas turbine combustion research group in the United States. Matthew Gombolay and his mentor, Dr. Sung-Hyun Son of MIT Lincoln Laboratory, receiving the R&D 100 Award at Waldorf Astoria in Orlando, FL. The EPIC lab has the ability to characterize robotic devices and controller implementation from the ground up, starting at fabrication and bench-top . I am also affiliated with the Georgia Tech Research Institute and serve as an Associate Director of ML@GT which is the machine learning center recently created at Georgia Tech. The application domains mainly include health and medicine, focusing on medical image data analytics as well as fusion of images, genomics, clinical records, and mobile health datasets for personalized and precision medicine. Charles C. Kemp (Charlie Kemp) directs the lab, which he founded in September of 2007. PI: Melissa Kemp. These labs, centers, and interdisciplinary research institutes provide a platform to engage researchers from a wide variety of disciplinesin the development of not only technological solutions to critical energy concerns, but greater understanding of the economic, environmental, political, and social implications of energy generation, distribution and use. Modeling spatio-temporal data, sequential data, and performing statistical inference (such as online anomaly detection, estimating dynamic networks). 4th floor, Room 4234 More specifically, my research lies at the intersection of machine learning and computer vision, with forays into natural language processing. This is a receding-horizon planning method that generates dynamically-feasible, collision-free trajectories for autonomous mobile robots. Research interests are in computer vision, natural language processing, embodied AI, human-AI collaboration, and AI for creativity. C-STAR personnel are advancing the frontiers of astrophysics, Earth science, planetary science, robotics, space policy, space technology, and space systems engineering. Previously I was a Research Scientist at SRI International Sarnoff in Princeton, . Georgia Tech's nationally recognized, energy-focused research centers and laboratories foster multidisciplinary collaborations to address critical challenges concerning our energy supply and use, climate, and the environment. Georgia Tech researchers have joined a cohort of 125 early career scholars who represent the most promising scientific researchers working today. I focus on designing algorithms for learning semantics from large data for natural language understanding, and natural language generation in particular with stylistic variations. Undergraduate Research at Georgia Tech: Psychology, Economics Team Up to Explore Spatial Navigation and . Georgia Tech offers an interdisciplinary path to an MS in Robotics, as well as the first Ph.D. program in robotics, to students enrolled in a participating school within either the College of Computing or the College of Engineering. The focus of the Human-Automation Systems (HumAnS) Lab is centered around the concept of humanized intelligence, the process of embedding human cognitive capability into the control path of autonomous systems. PI: Alex Abramson. The Exoskeleton and Prosthetic Intelligent Controls (EPIC) Lab at Georgia Tech, led by Dr. Aaron Young, is devoted to the design and improvement of powered orthotic and prosthetic control systems. Robotics Researchers at Georgia Tech Ronald Arkin , Ph.D., University of Massachusetts. Georgia Tech, and Curiosity Lab as they build, test and bring to market new products and services that . free site creation software ROBOT AUTONOMY AND INTERACTIVE LEARNING LAB @ GT The Robot Autonomy and Interactive Learning (RAIL) research lab focuses on the development of robotic systems that operate effectively in complex human environments, adapt to user preferences and learn from user input. Adaptive Robotic Manipulation (ARM) Laboratory The Adaptation Robotic Manipulation Laboratory, led by Dr. Frank L. Hammond III , focuses on a variety of research topics including soft pneumatically-actuated robots, teleoperated manipulators, and sensory feedback enabled human augmentation devices. SoftWear Automation is an Atlanta-based machine vision and robotics startup that is disrupting the $1.1 trillion textile industry, creating autonomous sewn good worklines for apparel, footwear and home goods. Before joining Georgia Tech, I was a Postdoctoral Fellow at the Agile Robotics Laboratory, Computer Science, SEAS, Harvard University, and worked with Scott Kuindersma (now at Boston Dynamics). Research Labs Research Labs. PIXI Lab Faculty: Keith Edwards However, we are motivated by highly challenging real world problems, especially as they arise in computational epidemiology, public health, critical infrastructure/urban computing, cybersecurity and the Web. Kim Lab. Students have access to cutting-edge facilities, such as the Robotics Laboratory and the . I am aroboticist. It allows researchers around the world to upload their own code, then have Georgia Techs rolling and flying swarm robots perform the experiment. Campus Map, 2023 Georgia Institute of Americas economic prosperity in the 21st century depends upon cybersecurity. Congratulations to Mark and Ryder for graduating with . Robotics for People (R4P): Perspectives on Interaction, Learning, and Safety Workshop at RSS 2021. Follow the Developments in AMBER Lab Tweets by @AMBER_lab Research Supported by: In addition, the Center focuses on education projects that lead to developing curriculum and new learning. Nationally-ranked, innovative, interdisciplinary, and definitive, SCP draws skilled, The Georgia Tech Supply Chain andLogistics Institute (SCL) is the largest supply chain and logistics leadership institute in the world providing comprehensive research, education, and outreach programs. Raw Cells. The lab's efforts address issues of autonomous control as well as aspects of interaction with humans and the surrounding environment. Columbia Artificial Intelligence and Robotics Lab . Recruiting: If you are interested in joining our lab, I request that you take the time to read my research . PI: Kyle Allison. The Carbon Neutral Energy Solutions Laboratory is designed to foster industry collaboration and support translational and pre-commercial research in clean, low carbon energy technologies. We study theory in machine learning and statistical learning methods, as well as the foundation of data science. Looking forward to their presentations in New Zealand! Allison Lab. MIT Biomimetic Robotics Lab and Naver Labs (joint host with Sehoon Ha's lab) Hobby: Agile Maneuvering. This is critical to enable autonomous systems to adapt and learn their own notions of safety on the fly, and to eventually communicate safety to people. At OLIVES (Omni Lab for Intelligent Visual Engineering and Science), we work on advancing machine learning and AI for applications where consistent labels are scarce and users' inputs are vital. Dr. Frank L. Hammond III joined George W. Woodruff School of Mechanical Engineering in April 2015. Georgia Institute of TechnologyNorth Avenue, Atlanta, GA 30332. The Institute for Robotics and Intelligent Machines (IRIM@GT) is an interdisciplinary research unit at the Georgia Institute of Technology.The center was launched May, 2006, and consists of researchers from the School of Interactive Computing in the College of Computing, College of Engineering, and Georgia Tech Research Institute.IRIM@GT currently offers a Ph.D. program in robotics, the first . For more than thirty years, SCL has been a world leader across a broad range of supply chain and logistics domains, nearly all of which have considerable energy implications at their core. Georgia Tech's Social and Language Technologies (SALT) lab studies Social NLP. Georgia Institute of TechnologyNorth Avenue, Atlanta, GA 30332Phone: 404-894-2000, Artificial Intelligence & Machine Learning, Human-Centered Computing & Cognitive Science, Information Visualization & Visual Analytics, Social Computing & Computational Journalism, School of Computational Science and Engineering. This is the homepage for the Healthcare Robotics Lab at Georgia Tech, which is an interdisciplinary lab that has had members from Biomedical Engineering, Interactive Computing, Electrical and Computer Engineering,Mechanical Engineering, Aerospace Engineering, and Applied Physiology. I received my Ph.D. from the Human Centered Robotics Laboratory with Luis Sentis, Mechanical Engineering, The University of Texas at Austin in 2016. Georgia Techs Financial Services Innovation Lab is located in the heart of the Technology Square Innovation ecosystem. The Biorobotics and Human Modeling Lab, under the direction of George W. Woodruff School of Mechanical Engineering Professor Jun Ueda, have developed a patient mounted injection needle robot for use in magnetic resonance elastography (MRE), a technology that combines MRI imaging and low-frequency vibrations to create a map (elastogram) that Technology, Robotics (MS) Course Description and Catalog, Colleges, Instructional Sites and Research, Interactive Computing Mechanical Engineering. We're modeling human motion and controlling robots to move like humans The Stanford Robotics Group is involved in research pertaining to all aspects of robotic manipulation and control. Write and verify your script in the simulator Sign up for a Robotarium account here and wait for getting approved by one of the Robotarium's admins. The Laboratory for Intelligent Decision and Autonomous Robots (LIDAR) at Georgia Tech focuses on planning, control, decision-making, applied optimization, and learning algorithms of highly agile and human-cooperative robots maneuvering in dynamically-changing, unstructured, and adversarial environments. Research areas include power conversion, industrial applications, energy conservation, distributed energy resources, distributed control of the grid, security and communications in energy,microgrids, DC nanogrids, and energy access for emerging markets. A full solution would likely include robots that are physically and socially intelligent in human environments, which would be consistent with notions of artificial general intelligence (AGI). The Center for Robotics and Intelligent Machines at Georgia Tech is an interdisciplinary unit involving the College of Computing, College of Engineering and Georgia Tech Research Institute. The College of Computing, College of Engineering, and the Georgia Tech Research Institute play key, complementary roles through Tech's traditional expertise in interactive and intelligent computing, control, and mechanical engineering. Markdown Extended. Through numerous studies,weve shown that mobile robots with arms (mobile manipulators) can meaningfully benefit people with disabilities in their daily lives. The depth and breadth of IRIM breaks through disciplinary boundaries and allows for transformative research that transitions from theory to robustly deployed systems featuring next-generation robots. We are especially interested in moving beyond supervised learning (un/semi/self-supervised and continual/lifelong learning), integration of learning and acting/planning, and distributed perception (multi-modal fusion, learning to incorporate information across a group of robots, etc.). Window for Transient Neuromodulation via Paired Mechanical and Brain Stimulation," in IEEE Transactions on Medical Robotics and Bionics, vol. The Laboratory is a shared resource for many combustion research teams, which consist ofmore than fifteen faculty members, a full time lab management staff, and many graduate students, visiting scholars, and post-doctoral fellows. Affiliation: The BORG Lab , College of Computing. Research: Behavior-based robotics; action-oriented perception; multi-robot systems. The basis of our research is to create a balance between the built environment and the natural environment, while addressing the complex challenges of globalization in the 21stCentury. Affiliation: The Mobile Robot Lab , College of Computing. The labs efforts address issues of autonomous control as well as aspects of interaction with humans and the surrounding environment. The company's revolutionary, patented technology was developed over eight years in collaboration with Georgia Tech . With several recentawards, Georgia Tech researcherswith the support of Georgia Techs Strategic Energy Institute (SEI)have launched the Direct Air Capture Center (DirACC), under the guidance of. Georgia Tech: Pros: Has a wonderful variety of course options I could choose from, very well respected in engineering and robotics (especially controls), is very industry focused since the program requires a capstone project and an internship over the summer (which would be guaranteed), is an engineering school so the alumni network could be . An older adult partner dances with Darci as a form of dance-based exercise. Our work is focused in two of our research centers and labs: The Robotics and Intelligent Machines (RIM) Center at Georgia Tech and the Computational Perception Lab (CPL). In our research efforts, we draw on the disciplines of robotics, cognitive sensing, machine learning, computational intelligence, and human-robot interaction. Georgia Institute of TechnologyNorth Avenue, Atlanta, GA 30332Phone: 404-894-2000, Entertainment Intelligence Lab and Human-Centered AI Lab, Omni Lab for Intelligent Visual Engineering and Science (OLIVES), Social and Language Technologies (SALT) Lab, COAR Lab (Control, Optimization, Algorithms, and Randomness). I founded the Healthcare Robotics Lab at Georgia Tech and co-founded Hello Robot Inc. with Aaron Edsinger. My labs research convinced me that mobile manipulators can improve peoples lives. This is not a comprehensive list. Campus Map, Circular Carbon Fuels Economy Working Group, Brook Byers Institute for Sustainable Systems (BBISS), Carbon Neutral Energy Solutions Laboratory (CNES), Center for Energy and Geo Processing (CeGP), Center for Innovative Fuel Cell and Battery Technologies (FCBT), Center for Organic Photonics and Electronics (COPE), Center for Transportation Operations and Safety (CTOS), Master of Sustainable Energy and Environmental Management (MSEEM), Energy Policy and Innovation Center (EPICenter), Institute for Data Engineering and Science (IDEaS), National Electric Energy Testing Research and Applications Center (NEETRAC), School of Cybersecurity and Privacy (SCP), Supply Chain and Logistics Institute (SCL), Sustainable Thermal Systems Laboratory (STSL), University Center of Excellence for Photovoltaics (UCEP), Emergency Blaise Tine, Georgia Tech. This course introduces students to the real-world challenges of implementing machine learning-based trading strategies including the algorithmic steps from information gathering to market orders. Zulfiqar Zaidi, Nathaniel Belles, Arjun Krishna, and Kin Man Lee, from the CORE Robotics Wheelchair Tennis Robot (WTR) Team, demonstrating a robot tennis strike to local boy scouts during an outreach event. Kent Yamamoto. Discover unique opportunities at Georgia Tech Engage Find Organizations Join a new organization and utilize discussion, news posts, and group messaging. Our lab is part of the Department of Biomedical Engineering at Georgia Tech and Emory University. And executive vice president for Academic Affairs ) nucleosynthesis, stellar evolution, and performing statistical inference such. Robotics researchers at Georgia Tech: Psychology, Economics team up to Explore Spatial Navigation and labs affiliated with @... The BORG lab, which he founded in September of 2007 GA.! 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Intelligent Machines ( IRIM ) participates in numerous K-12 STEM and community outreach related.