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Intelligent Sensing &Information Processing:New Directions in Research and Education
United College of Engineering
& Research
Gr.Noida
Mr.Right
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
Intelligent sensorIntelligent sensor
and learning challengesand learning challengesfor context aware appliancesfor context aware appliances
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
Phone by night
The mediacup
(calm version of the active badge)
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
Olympus Optical Co., Ltd. is pleased to announce its newwearable user interface technologies.Employing gestures and other hand movements for input, the systemis an ideal match for new wearable PCs.
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
How are you?
Data
Representation
Information retrievalContext evolution
>>
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
Machine Perception Lab
Face Detection and Expression
Recognition
Data
Representation
Information retrievalContext evolution
>>
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
� Requirements:¾ Data¾ Accuracy and confidence¾ Self diagnostic¾ Self calibration
� How to do it?¾ Uncertainty management¾ Learning ability
x Network + database
¾ Adaptation ability¾
Fault detection mechanism
Associated software sensors
Data
Representation
Information retrievalContext evolution
>>
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
� Value + confidence interval + validitydomain
� How to build it ?¾ From a model: tracking = Kalman filter ¾ When no model is available: learn it!
Raw data v (t )
Raw data x (t )
Raw data y (t )
Raw data z (t )
learning = Black box modeling
Data
Representation
Information retrievalContext evolution
>>
environment
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Séminaire PSI
FRE CNRS 2546
16 Janvier 2003
� What is information?¾ Computer science¾ Coding
¾ Signal
«remember Albert and relativity
Theoretical models are essentials(Mark Weiser, Computer Science Challenges for the Next Ten Years)
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Outline of Ongoing New Project
� Online Automation and Control: An Experiment inDistance Engineering Education
� E-Learning: Case Studies in Web-Controlled Devicesand Remote Manipulation
� Prototyping Environment for Robot Manipulators
� Manipulator Workspace Generation and Visualization inthe Presence of Obstacles
� Kinematic Synthesis of Robotic Manipulators from Task Descriptions
� New concept in optimizing the manipulability index of serial Manipulators using SVD method
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Online Distance Laboratories
� Using Automation and Telerobotic (controllingdevices from a distance) systems
� Real-time laboratory experience via the internet
1. Tele-operation of Mitsubishi Movemaster
2. RISCBOT ± A Web Enabled Autonomous NavigationalRobot
3. Tele-operation of the FESTO Process Controller
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1. Tele-operation of Movemaster
� Can be used in 3 modes
Evaluation mode
Teacher mode
Student mode
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RISCBOT
� Waits for command from the
server.
� Wall clinging robot.
� Image processing programchecks for doors.
� Uses Ultrasonic sensors for
obstacle avoidance.
� PC acts as central decision
maker.
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FESTO Process Controller
� Providing telerobotic operability of the FESTO processcontrol machine by interfacing it with the Mitsubishi
Movemaster robot.
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Robot Prototyping Environment
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To design a robot manipulator, the
following tasks are required:� Specify the tasks and the performance
requirements.
� Determine the robot configuration and
parameters.� Select the necessary hardware components.
� Order the parts.
� Develop the required software systems(controller, simulator, etc...).
� Assemble and test.
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The Manipulator Used in the ImplementationThe Manipulator Used in the Implementation
Mitsubishi, RV-M1
(Movemaster EX)
general purposecommercial arm
5 DOF
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The Simulator: Networking ModelThe Simulator: Networking Model
client simulator
client/server simulator
server/robot simulator
actual robot
client/server simulator
direct serial link connectivity
pipelined TCP/IP connectivity, allowing for effective
distance learning methods and f lexible remote automation
and control
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The Simulator: Networking Model ScenarioThe Simulator: Networking Model Scenario
controlling the robot through 2 pipelined simulatorscontrolling the robot through 2 pipelined simulators
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School of EngineeringUniversity of Bridgeport
T rajectory of the robot in aT rajectory of the robot in a
hallway environment hallway environment
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T rajectory of the robot in the labT rajectory of the robot in the lab
environment environment
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Propagation of Uncertainty
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Service Robots
A T ire Changing Manipulator
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Design and Construction
�� A prototype of the racing car :A prototype of the racing car :
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Design and Construction
� The manipulator will be of
the depicted form. The
design was derived from
inertial and dexterity
calculations
� Three essential
Components: the sliding
mechanism, the arm, and
the end effector system.
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Experimental Robot Musicians
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Introduction
� Robot musicians perform on real instruments
through the usage of mechanical devices, such as
servomotors and solenoids
� Research innovations linking music, robotics and
computer science
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MotivationMusic Expressiveness
� Offer the audience live-experience very similar tolistening to a human musician.
� Real instrument performance, such as the physicalvibration of a violin string, provides a muchstronger case in music expressiveness, versus
electronic music synthesizers.
� Mozart - eine kleine nacht musik : wholeensemble
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MotivationMusic Expressiveness (cont.)
� Bypass several technical difficulties that are
typically encountered by human musicians
� More degrees of freedom in real-time
performances and reach a higher level of
performance difficulty, flexibility and quality.
� As an example, a violin is played by a robotmusician with hands that have 12 fingers.
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Robot Musicians ArchitectureRobot Musicians Band Overview (cont.)
Robot musicians, the P.A.M. band, invented by Prof. Kurt Coble.
The moth:features violin
solo, composed byProf. Kurt Coble,companied bypercussionensemble, electricbase and electric
guitar
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Robot Musicians ArchitectureRobot Musicians Band Overview (cont.)
A ustin plays a Percussion Ensemble Dusty plays a red electric guitar
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Robot Musicians ArchitectureMotion Module (Cont.)
Servo attached to one bow of Jasche
Solenoid (with holding power of 1.5pounds) attached to Jasche
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Robot Musicians ArchitectureRobot Musician Architecture Overview
� A three-module architecture
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Infrared Proximity Sensor
� Infrared sensors operate by emitting an infrared light, and
detecting any reflection off surfaces in front of the robot. If the
reflected infrared is detected, it means that an object is detected.
� We have used an infrared proximity - Sharp GP20A21YK
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J azzy 1122 Wheelchair
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Jazzy 1122
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School of EngineeringUniversity of Bridgeport
ENGINEERING
³UB¶s Engineering School,
with 1,250 students, is among
top three for enrollment
in New England.´
CT Post 11/22/2007
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Thank you«Thank you«