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Mike Brady Research Symposium From Oxford AGVs to Human-Centred Robotics

Mike Brady Research Symposium From Oxford AGVs to Human-Centred Robotics. Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk. Introduction. 2 nd stage Structured environments. 3 rd stage Unstructured

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Mike Brady Research Symposium From Oxford AGVs to Human-Centred Robotics

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  1. Mike Brady Research SymposiumFrom Oxford AGVs to Human-Centred Robotics Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk

  2. Introduction 2nd stage Structured environments 3rd stage Unstructured environments 4th stage Human-centred environments 1st stage Imaginary world 1920s Human’s dream of replicating themselves 1950s Industrial Robots 1980s 2000s Field Robots Service Robots Oxford AGV Project Prof. H. Hu, School of CSEE, University of Essex, U.K.

  3. Oxford AGV Project (1988-1997) Tracked vehicle Robuter Turtle OxNav LICAR1 • Key issues: • Multi-sensor integration • Sensor-based control • Autonomous navigation & mapping • Toward unstructured environments • Funded by EPSRC • GR/E42416 - £230K (1988-91) • GR/G37361- £270K (1991-94) • GR/K39844 - £350K (1994-97) • plus other grants (Hugh & Penny) Video Prof. H. Hu, School of CSEE, University of Essex, U.K.

  4. Human-Centred Robotics • To operate in human-centred environments that are not structured in any way for robots. • To communicate intelligently with human users to know their needs. • To be adaptive, compliant, fail safe. • To be easily used by general public who have no knowledge on robots & programming (elderly & disabled). Honda Asimo, 2001 Robotics is the intelligent connection of perception to action (M. Brady) Prof. H. Hu, School of CSEE, University of Essex, U.K.

  5. Typical Applications Security Robots Service Robots Intelligent Appliance Intelligent Home/ Office/Building Internet & Wireless Intelligent Transportation System Intelligent Health Care System Intelligent Personal Assistant Prof. H. Hu, School of CSEE, University of Essex, U.K.

  6. Industrial Robots in Medical • ROBODOC (1992, IBM), based on an IBM scara robot for hip and knee surgeries. • Rehabilitation Robot Da Vinci Surgical Robot video Encoders & Force sensors Prof. H. Hu, School of CSEE, University of Essex, U.K.

  7. Dextrous Hand for Service Robots A high-speed robot hand (Komuro’s Lab at Univ. of Tokyo) performs impressive acts of dexterity & skillful manipulation (2009). Shadow C6M Dextrous Hand (20 motors) IIT Dextrous Hand for the iCub robot (22 DOFs, extremely compact, & light 0.5Kg) EU-FP7-DEXMART-2009 Prof. H. Hu, School of CSEE, University of Essex, U.K.

  8. Field Robots for Military RHex robot Two robots made by Boston Dynamics BigDog robot Prof. H. Hu, School of CSEE, University of Essex, U.K.

  9. Robotic Fish built at Essex G6 – Robotic fish G4 – Robotic fish G5 – Robotic fish G8 – Robotic Fish G9 – Robotic fish G14 – Robotic fish Funded by London Aquarium Prof. H. Hu, School of CSEE, University of Essex, U.K.

  10. EU FP7 ICT Project – SHOAL • A shoal of robotic fish will • function in collaboration, • monitor pollution in a port, and • map pollution levels & its position. Testing at De Gijon Port, Spain Sensor networks Referred from NMRI, Japan Prof. H. Hu, School of CSEE, University of Essex, U.K.

  11. Robotic Swarm for Environmental Monitoring • For optimal coverage of an environmental variable for pollution monitoring. • Control of real and simulated agents using a combination of bacteria controller and flocking controller. • Architecture and system design for the System. Video 11 Prof. H. Hu, School of CSEE, University of Essex, U.K. 09 June 2014

  12. Hands-free Control of Wheelchair Voice based control Head gesture based control Prof. H. Hu, School of CSEE, University of Essex, U.K.

  13. EMG based control of a wheelchair at Essex • CyberLink - small wearable headband with 3 bio-sensors. Video 1 Video 2 EMG – band pass 70- 1000Hz. eyebrow tension EOG – band pass 0.2-3Hz. Funded by The Royal Society & Royal Academy of Engineering Prof. H. Hu, School of CSEE, University of Essex, U.K.

  14. Brain Actuated Control Feature Selection Algorithm Selection Translation Algorithm A/D Conversion & amplifier Feature Extraction Device Commands CommunicationControl Biosemi, Netherlands www.biosemi.com Video • 16-CH A/D • Amplifiers • Headcap-64 • Electrodes Funded by EPSRC; Partner: Oxford University (Steve Roberts) Prof. H. Hu, School of CSEE, University of Essex, U.K.

  15. Multi-sensor Perception People tracking with service robots • People are tracked using a multi-sensor solution, i.e. • the camera for face detection • The SICK laser scanner for legs detection • Three recognition modalities are integrated • height • clothes • face recognition Prof. H. Hu, School of CSEE, University of Essex, U.K.

  16. Bank of Filters for Joint People Tracking & Identification Prof. H. Hu, School of CSEE, University of Essex, U.K.

  17. Experiment 1- Tracking 1 Person Prof. H. Hu, School of CSEE, University of Essex, U.K.

  18. Multiple Targets Data association problem data association A B Different readings face / legs of A State estimation person A State estimation person B face / legs of B Different persons Prof. H. Hu, School of CSEE, University of Essex, U.K.

  19. Experiment 2 – Tracking 3 people Lux for University Open Day Prof. H. Hu, School of CSEE, University of Essex, U.K.

  20. Conclusion • Opportunity:Robot in every home - a personal robot era is coming. Like PC & Mobile phone, we will enjoy these new robots (wearable, portable, implantable, pervasive). Prof. H. Hu, School of CSEE, University of Essex, U.K.

  21. Future Challenges • How to effectively conquer home environments. • Incremental Learning for life-long adaptation • Memory & Machine Consciousness • Multi-modality human-machine • interaction • Interdisciplinary: psychology, medical, • neuroscience, sociology, ethics, etc. Prof. H. Hu, School of CSEE, University of Essex, U.K.

  22. Thanks to Mike who led me into the robotics research at Oxford, which was exciting & enjoyable. • Thanks to my colleagues and students at Essex who made contributions to this talk. Please see my homepage for more information http://csee.essex.ac.uk/staff/hhu Q & A Prof. H. Hu, School of CSEE, University of Essex, U.K.

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