Technical ActivitiesReport.ppt

《Technical ActivitiesReport.ppt》由会员分享，可在线阅读，更多相关《Technical ActivitiesReport.ppt（52页珍藏版）》请在麦多课文档分享上搜索。

1、Technical Activities Report,Ken Goldberg, VP Technical Activities Spring 2007, ICRA, Rome,The Future of Robot Operating Systems,ieee icra panel, 12 april, 2007,Tandy Trower Herman BruyninckxGian Paolo Gerio Nobuto Matsuhira Paolo PirjanianBruno SicilianoKen Goldberg,RAS Technical Activities BoardVic

2、e President, Technical Activities Associate VPTAs RAS Officers 45 Technical Committee Co-Chairs 24 Distinguished Lecturers “At-large” members: Tatsuo Arai, Alicia Casals, Satoshi Tadokoro, and Sebastian Thrun,Agenda, TAB Meeting, ICRA, Rome, April 2007Review of Progress to date GOLD Lunch, Panel on

3、Robot Operating Systems Review of TCs and DLs: Most Active TC and DL Proposed New RAS Field of Interest (FOI) Statement Proposed Statement of Support for TCs Proposed new category: Technical Communities Proposed Wiki on RAS Research Milestones Increasing TCs role in ICRA, IROS, CASE Session Assignme

4、nts “Birds of a Feather“ meetings during conferences Other Topics,TAB Report, ICRA, Orlando, 20 May 2006Approved: Establish 2 New TCs: Algorithms for Planning and Control of Robot Motion Space Robotics Approved: Expanding DL program from 15 to 24 DLS Approved: Most Active DL Award (+$1000/year) Appr

5、oved: Expand Young Professionals Lunch to IROS (+$5000/year) Approved: Approve TAB Charter,TAB Report, IROS, Shanghai, Oct 2006Proposal: Name Change: Young Professionals Lunch GOLD Lunch (Graduates of the Last Decade) Proposal: Establish New TC: Technical Committee on Haptics (TCH) New DL Candidates

6、 from Under-Represented Areas Future Work: RAS Focus of Interest (FOI),GOLD Lunch Wednesday, 12:40-2:00pm,Microsoft Robotics Studio Released Fall 2006,Panel on Future of Robot Operating Systems Thursday, 5:10-6:30pm,IEEE CASE 2007 Scottsdale, Arizona, USA 22-25 September, 2007 Submissions Due 30 Apr

7、il 2007,www.ieee.org/t-ase,Majid Nili Klas Nilsson Bruno Siciliano Roland SiegwartAmericas Nancy Amato Mario Campos Vijay Kumar Peter Luh Deirdre Meldrum Tim Salcudean Metin Sitti Alfredo Weitzefeld,RAS Distinguished Lecturers,Asia and Pacific Hugh Durrant-Whyte Li-Chen Fu Shuuji Kajita Frank Park Y

8、oshihiko Nakamura Shigeki Sugano N. Vishu Viswanadham Michael WangEurope Wolfram Burgard Alicia Casals Dan Halperin Jean Paul Laumond,Majid Nili Klas Nilsson Bruno Siciliano Roland SiegwartAmericas Nancy Amato Mario Campos Vijay Kumar Peter Luh Deirdre Meldrum Tim Salcudean Metin Sitti Alfredo Weitz

9、efeld,RAS Distinguished Lecturers,Asia and Pacific Hugh Durrant-Whyte Li-Chen Fu Shuuji Kajita Frank Park Yoshihiko Nakamura Shigeki Sugano N. Vishu Viswanadham Michael WangEurope Wolfram Burgard Alicia Casals Dan Halperin Jean Paul Laumond,Technical Committee TAB Database Last UpdatedAerial Robotic

10、s and Unmanned Aerial Vehicles September 30, 2006 Agricultural Robotics October 22, 2006 Bio Robotics January 25, 2007 Computer & Robot Vision April 1, 2007 Humanoid Robotics October 8, 2006 Human-Robot Interaction & Coordination September 30, 2006 Intelligent Transportation Systems April 3, 2007 Ma

11、nufacturing Automation April 6, 2007 Micro/Nano Robotics and Automation February 11, 2007 Networked Robots March 1, 2007 Programming Environments January 8, 2007 Prototyping for Robotics and Automation March 12, 2006 Rehabilitation Robotics April 6, 2007 Robo-Ethics January 25, 2007 Safety Security

12、and Rescue Robotics August 31, 2005 Service Robotics January 12, 2007 Semiconductor Manufacturing Automation January 16, 2007 Surgical Robotics January 25, 2007 Underwater Robotics March 5, 2006 Planning and Control of Robot Motion January 18, 2007 Space Robotics February 27, 2007 Haptics April 4, 2

13、007,Aerial Robotics and Unmanned Aerial VehiclesFlying opens new opportunities to robotically perform field services and tasks like search and rescue, observation and mapping. Key areas to be addressed include autonomous missions, localization and multi-vehicle coordination.Activities: IEEE Robotics

14、 and Automation Magazine Special Issue “Unmanned Aerial Vehicles: Enabling Technologies and Roadmap for Autonomy“, Guest Editors: K.P. Valavanis (USF) and G.J. Vachtsevanos (Georgia Tech)Springer-Verlag Book on UAVs (to be published)2006 2nd Annual Indoor Aerial Robot Competition, May 7, 2006 - Phil

15、adelphia ICRA 2006: Full day workshop, “UAVs: Missions and Payloads” Full day tutorial, “Hands-on Lessons for UAV Construction” To Join, Contact Paul Oh: paulcoe.drexel.edu,IEEE Robotics & Automation Society Agricultural Robotics Technical Committee,Australia and the National Centre for Engineering

16、in Agriculture develop Vision/GPS/Inertial guidance systems for farm machinery,University of Southern Queensland researchers and the National Centre for Engineering in Agriculture develop image processing systems for livestock recognition,University of Georgia researchers develop networked autonomou

17、s GPS guided farm vehicles,To Join: Jason Stone: stonejusq.edu.au John Billingsley: billingsusq.edu.au,Contact email to join: Jorge Solis (Waseda University)TC_contacttakanishi.mech.waseda.ac.jp,Recent Advances:,TC Co-Chairs: Atsuo Takanishi, Waseda University Blake Hannaford, University of Washingt

18、on,TC on Bio Robotics,The WABIAN-2R reproduces more closely the human-like walking with stretched knees, heel contact and toe-off motions. Reference: Y. Ogura, K. Shimomura, H. Kondo, A. Morishima, T. Okubo, S. Momoki, H. Lim, A. Takanishi. “Human-like walking with knee stretched, heel-contact and t

19、oe-off motion by a humanoid robot,” In Proc. IROS 2006, pp. 3976-3981.,A novel bio-inspired articulated robotic probe (HARP) was developed based on a snake-like mechanism for minimally invasive surgery. Reference: S. Au, P. Dilworth, H. Herr. “An ankle-foot emulation system for the study of human wa

20、lking biomechanics”, In Proc. ICRA 2006, pp. 2939-2945.,A novel bio-inspired articulated robotic probe (HARP) was developed based on a snake-like mechanism for minimally invasive surgery. Reference: A. Degani, H. Choset, A. Wolf, T. Ota, M.A. Zenati, “Percutaneous Intrapericardial interventions usin

21、g a highly articulated robotic probe”, Proc. BIOROB 2006, pp. 7-12.,Remote-controlled surgical robots promise to save lives by imitating surgeons dexterity in cases where patient cannot be transferred to the hospital. Reference: J. Rose and B. Hannaford, “DOC at a distance”, IEEE Spectrum, Vol. 43,

22、No. 10, pp. 28-33, October 2006.,Algorithms for Planning and Control of Robot Motion,To Join: Oliver Brock (olics.umass.edu) Tsutomu Hasegawa (hasegawairvs.is.kyushu-u-ac.jp); Steve LaValle (lavalleuiuc.edu) Thierry Simeon (niclaas.fr),Funding: SToMP: $7.8 million DARPA program headed by UIUC to inv

23、estigate sensor-based planning and associated mathematical and algorithmic challenges; others: Penn, U of Chicago, Rochester, Carnegie-Mellon, Melbourne University, Arizona State, and Bell Labs/Lucent,Applications in Molecular Biology: Protein folding kinetics (Texas A other results at CMU, Rice, ,I

24、ntegration of Planning and Control: Planning based on local feedback control policies (Connor, Choset, Rizzi, CMU); others results at UIUC, UMass Amherst, ,Real-World Implementation: Motion planning algorithms are being implemented on real-world humanoid robots at U Tokyo, AIST, CMU, ,.,.,To join: d

25、aniknada.kth.se,Computer and Robot Vision Technical Committee Chairs: Danica Kragic (KTH) and Ioannis Kakadiaris (UH),Vision Based Simultaneous Localization and Mapping,Real-time, Stereo Based Object Recognition and Pose Estimation,Vision Based Activity Interpretation for Robot Learning by Demonstra

26、tion,Haptics Technical Committee,Contact co-chairs to join: Hong Tan hongtanpurdue.edu Matthias Harders mhardersvision.ee.ethz.ch Hiroyuki Kajimoto kajimotohc.uec.ac.jp,Recent advances:,2006 conferences best papers:Q. Wang and V. Hayward, “Compact, Portable, Modular, High-performance Distributed Tac

27、tile Display Device Based on Lateral Skin Deformation”, Haptic Symposium, pp. 10-16, 2006.Y.-S. Lee, S. Lai-Yuen, “Energy-Field Optimization and Haptic-Based Molecular Docking and Assembly Search System for Computer-Aided Molecular Design”, Haptic Symposium, pp. 34-40, 2006.M. Reiner, D. Hecht, G. H

28、alevy, M. Furman, “Semantic Interference and Facilitation in Haptic Perception”, EuroHaptics Conference, pp. 31-35, 2006.E. van West, A. Yamamoto, T. Higuchi, “Development of Haptic Tweezer, a non-contact object handling system using magnetic levitation and haptic device“, EuroHaptics Conference, pp

29、. 87-92, 2006.,New consumer level low-cost haptic interface (Novint Falcon),Human-Robot Interaction and Coordination Co-Chairs: Cecilia Laschi , Cynthia Breazeal, Yasushi Nakauchi,Recent Technical Developments Computational models of core human socio-cognitive skills (such as perspective taking and

30、shared attention) have been successfully demonstrated to improve the quality of human-robot teamwork and interaction HRI frameworks have successfully been applied to traditional machine learning methods to enable humanoid and mobile robots to learn from natural human interactions via imitation, demo

31、nstration, and tutelage. The HRI community has embarked on developing evaluation metrics that embrace multi-disciplinary perspectives such as human factors, psychology, robotics, etc. for diverse areas of HRI such as Urban Search and Rescue, Social Robotics, H-R teams for Space Exploration, and more

32、. To Join: tchric-allhri.iit.tsukuba.ac.jp,Robonaut (teleop)-astronaut teams at NASA JSC,DB learning by demonstration to play air-hockey at ATR,Leonardo sharing attention during collaborative tasks at MIT Media Lab,Humanoid RoboticsIEEE-RAS International Conference on Humanoid Robots 2005 Event - co

33、nference December 5, 2005 - Tsukuba, JapanThe conference theme was “Humanoid Robots that Interact with Humans and the Society,“ reflecting growing interests in personal service and entertainment robots that can interact with humans. The conference was part of a series started in Boston in 2000, and

34、traveled through Tokyo (2001), Karlsruhe/Munich (2003), and Santa Monica (2004), and brought the spirit to Tsukuba. The 2005 World Exposition, Aichi, Japan had taken place from March 25 to September 25, 2005 with a theme on “natures wisdom“ for rediscovering the relationship between humanity and tec

35、hnology, and featuring the robotic exposition. Topics of interest include, but are not limited to, anthropomorphism in robotics (hardware/software/theory), Robotics for human science (behavioral/psychological/cognitive/neural science), Human science for robotics, Human-robot interaction, Humanoid ro

36、bot applications, Key-components for humanoid robots.To Join: Sugano, Shigeki (suganowaseda.jp) Hirukawa, Hirohisa (hiro. Hirukawaaist.go.jp) Lee, C. S. George (csgleepurdue.edu),The DARPA Grand Challenge The first race ever that saw 5 autonomous vehicles reach the finish line after 130+ miles of de

37、sert, rough terrain, and extreme conditions.The first time that unmanned vehicles succeed in this extremely complex task.,Christian Laugier; Urbano Nunes; Alberto Broggi,Cybercars: a new approach for sustainable mobility Emerging as an alternative to the private passenger car, cybercars try to offer

38、 the same flexibility and much less nuisances based on fully automated electrical vehicles with on-demand and door-to-door capability. Fleets of such vehicles are being deployed in several worldwide cities and are already operational in specific environments such as shuttle services for passenger tr

39、ansportation.,Steering Control Combination of Adaptive Cruise Control (ACC) and Lane Keep Assist System (LKAS).,Join: Urbano Nunes, urbanoisr.uc.pt,Manufacturing Automation,Co-Chairs: Michael Yu Wang Chinese University of Hong Kong Zexiang Li Hong Kong University of Science & Technology Kin Huat Low

40、 Nanyang Technological University, Singapore,“Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing“ Jingang Yi, (Lam Research Corporation), Shengwei Ding, (University ofCalifornia at Berkeley) and Dezhen Song, (Texas A&M University, USA) “Geometric C

41、omputation for Assembly Planning with Planar Toleranced Parts“ Yaron Ostrovsky-Berman and Leo Joskowicz (The Hebrew University of Jerusalem, Israel) “Analysis of Andon Type Transfer Production Lines: A Quantitative Approach“ Jingshan Li and Dennis E. Blumenfeld (General Motors Research & Development

42、 Center, USA),To join: Kin Huat Low mkhlowntu.edu.sg,Micro / Nano Robotics and Automation TC,Contact Co-Chairs to Join: Fumihito Arai araiimech.mech.tohoku.ac.jp Nicholas Chaillet nicolas.chailletens2m.fr Ari Requicha requichausc.edu,Recent Advances:,Electron micrograph of a nanoactuator built from

43、telescoping carbon nanotubes. Note the difference in length between top and bottom panels. Reference: L. Dong, B. J. Nelson, T. Fukuda and F. Arai, “Towards Linear Nano Servomotors”, IEEE Trans. on Automation Science & Engineering, 2006, pp. 228-235.,Fully automatic manipulation of nanoparticles wit

44、h sizes 10 nm. Planned sequence of operations on left AFM image result on the pattern on right. Reference: B. Mokaberi, J. Yun, M. Wang and A. A. G. Requicha, “Automated Nanomanipulation with Atomic Force Microscopes”, ICRA 07, Rome, Italy, 2007.,Networked RobotsA “networked robot“ is a robotic devi

45、ce connected to a communications network such as the Internet or LAN. The network could be wired or wireless, and based on any of of a variety of protocols such as TCP, UDP, or 802.11. Many new applications are now being developed ranging from automation to exploration. There are two subclasses of N

46、etworked Robots:1) Tele-operated, where human supervisors send commands and receive feedback via the network. Such systems support research, education, and public awareness by making valuable resources accessible to broad audiences.2) Autonomous, where robots and sensors exchange data via the networ

47、k. In such systems, the sensor network extends the effective sensing range of the robots, allowing them to communicate with each other over long distances to coordinate their activity. Networked robots pose a number of technical challenges related to network noise, reliability, congestion, fixed and

48、 variable time delay, stability, passivity, range and power limitations, deployment, coverage, safety, localization, sensor and actuation fusion, and user interface design. New capabilities arise frequently with the introduction of new hardware, software, and protocol standards.Co-Chairs: Dez Song,

49、Nori Hagita, Klaus Schilling Past Chairs: Wolfram Burgard, Nak-Young Chong, and Gaurav Sukhatme,To Join: dzsongcs.tamu.edu,Programming Environments in Robotics & Automation Advances in Robot Software Development,Domain Analysis : identification of issues and challenges in robot software development

50、Hardware heterogeneity Prototype/Simulation/Reality Component-based Development : definition of reusable software component models Component internal behavior Component external interface Component integration Framework-based Development : definition of software architectures for robot control application Middleware for distribution Functionality customization,