intelligent sencing and information processing

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Intelligent Sensing &Information Processing:New Directions in Research and Education

United College of Engineering

& Research

Gr.Noida

Mr.Right



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

Intelligent sensorIntelligent sensor

and learning challengesand learning challengesfor context aware appliancesfor context aware appliances



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

Phone by night

The mediacup

(calm version of the active badge)



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

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.



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

How are you?

Data

Representation

Information retrievalContext evolution

>>



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

Machine Perception Lab

Face Detection and Expression

Recognition

Data

Representation


>>



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

� 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


>>



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

� 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


>>

environment



Séminaire PSI

FRE CNRS 2546

16 Janvier 2003

[email protected]

� 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)



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



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



1. Tele-operation of Movemaster

� Can be used in 3 modes

Evaluation mode

Teacher mode

Student mode



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.



FESTO Process Controller

� Providing telerobotic operability of the FESTO processcontrol machine by interfacing it with the Mitsubishi

Movemaster robot.



Robot Prototyping Environment



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.



The Manipulator Used in the ImplementationThe Manipulator Used in the Implementation

Mitsubishi, RV-M1

(Movemaster EX)

general purposecommercial arm

5 DOF



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



The Simulator: Networking Model ScenarioThe Simulator: Networking Model Scenario

controlling the robot through 2 pipelined simulatorscontrolling the robot through 2 pipelined simulators



School of EngineeringUniversity of Bridgeport

T rajectory of the robot in aT rajectory of the robot in a

hallway environment hallway environment



T rajectory of the robot in the labT rajectory of the robot in the lab

environment environment



Propagation of Uncertainty



Service Robots

A T ire Changing Manipulator



Design and Construction

�� A prototype of the racing car :A prototype of the racing car :



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.



Experimental Robot Musicians



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



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



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.



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



Robot Musicians ArchitectureRobot Musicians Band Overview (cont.)

A ustin plays a Percussion Ensemble Dusty plays a red electric guitar



Robot Musicians ArchitectureMotion Module (Cont.)

Servo attached to one bow of Jasche

Solenoid (with holding power of 1.5pounds) attached to Jasche



Robot Musicians ArchitectureRobot Musician Architecture Overview

� A three-module architecture



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



J azzy 1122 Wheelchair



Jazzy 1122



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



Thank you«Thank you«

intelligent sencing and information processing

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