Overview of Cybernet Systems Corporation Robotics

1. Overview of Cybernet Systems CorporationRobotics • Joseph Tesar – jt@cybernet.com • Charles Jacobus, Ph.D. – chuck@cybernet.com Cybernet Systems Corporation 727 Airport Blvd Ann Arbor, Michigan 48108 www.cybernet.com

2. Cybernet Biography • Founded in 1988 • Special Status: Woman-owned • Over 200 contracts completed – largest SBIR winner in the Midwest • 16 Patents, ~20 patents pending • Specialization: Robotics, Sensors, Software • Commercialization and R&D Cybernet

3. Cybernet’s Mission • Our mission is to apply Cybernet-developed technology to the human machine interface. Areas include: • Distributed Simulations • Robotics and Computer Vision • Human Interface Systems • Wired and Wireless Network Appliances Cybernet

4. Technology Areas • Distributed Simulations • Scalable Massive MultiNode Simulator (OpenSkies) • Simulation engines (3D, terrain, sound, scenario) • Robotics and Computer Vision • Autonomous actions using vision inputs • Human Interface Systems • Non traditional methods for interfacing machines to humans, using gestures, eyetracking and voice commands • Distributed medical data collection and data distribution Cybernet

5. Robotics R&D Track Record Current and past sponsors: • NASA: • Force Feedback (haptic joysticks), • Computer Vision for 3D Object Localization • Semi-Autonomous Robotic Command Creation • DoD (Army, DARPA, OSD, Navy, AF): • Novel Robotic Platforms – omnidirectional, walkers, etc • Gesture Recognition • Hands Free Control of Computers • OCUs (Demo II, Wearable OCU for Man Portable Systems – FCS) • Telemaintenance of Robotic Platforms (FCS) • Distributed Simulation • Future Combat Systems (Boeing) Cybernet

6. Cybernet Firsts 1989: (NASA) First general purpose FF Joystick 1992: (ARL) First portable robotics OCU 1994: (DARPA/TACOM) First Linux used in Demo II OCU 1994: (JPO) HMMWV Robotics retrofit kit 1996: (CECOM) Laptop touch-controlled OCU for field digital photo intel (USAF) Computer vision augmented GPS navigation prototype (NIH, NASA, DARPA) First Internet Medical Appliance 1997: (Mich) Walking/Rolling robot prototype -- experimental design for long endurance, flexible obstacle breaching, fast traversal of flat terrain 1998: (Navy) Small omnidirectional platform prototype -- experimental design for agility and speed (Ford Motor Co) 6DOF articulated linkage (pantograph) with end effector 1998: (STRICOM) Locomotion Platform, Virtual Test Range 1999/00: (TACOM) Semi-Autonomous Rendezvous and Docking for Robots (Commercial) NetMAX Linux-based Servers (Secure, Connect, Share) 2000:(JPO) Wearable OCU; (ARL) Hands Free Interface; (Army) Low cost augmented GPS 2001: MedStar Medical Data Collection, (Army) Automated Parachute Deployment (STRICOM) Gesture Dismounted Soldier Simulation Control 2002: (Army) Telemaintenance for Robotic Vehicles; (Army) “Instant” Communications Network, OpenSkies Massive Multiplayer Game Network Engine Cybernet

7. Commercial Success - Force Feedback Devices • Beginning: NASA sponsored work (1989-92) • Resulted in 10 Patents from 1992 to present • Business goal: Create a large sales volume robotic product • Result: Force Feedback Joystick for PCs • Spun-off to Immersion Corporation, San Jose CA (Nasdaq: IMMR) in 1998 • Licensees: • Logitech, Microsoft, Sony, CH Products • Cybernet and Immersion collaborate on Haptics development projects. PerForce (1992) Logitech (2000) Cybernet

8. Commercial Success - Network Appliances • DARPA : Demo II Portable OCU (1994-1996): PC parts & Linux • Result: One Patent, Software, and Web GUI Intellectual Property • Business Goal: • Create Linux-based O/S Products Demo II Portable OCU & Radio Set • Result: Netmax Internet Appliance Software • Server, Firewall, FileServer • See www.netmax.com NetMAX Linux Internet Appliance Software Family Cybernet

9. Commercial Success - Medical Internet Appliances • NASA, DARPA, NIH funded Internet Physiological Monitor (1994-1998) • Three patents covering medical instruments directly connected to the Internet • Business Proposition: • Automate out-patient monitoring Sell/License technology • GE, Agilent, CyberCare, Guidant 802.11 Compatible Multiparameter Monitor MedStar Data Collection Unit CDPD/PCS EKG Monitor (Holter and Cardiac Event) Cybernet

10. Commercial Success - Gesture Recognition • Gesture Technology • Use human motion as machine inputs (eye motion, hand motion, etc.) - 6 patents pending • Commercial Software for computer games (see www.useyourheadsw.com) • 6 patents pending • Webcam based Eyetracker Cursor Control • Kiosk API product at Smithsonian • Army (STRICOM) hand gesture recognition system Eyemotion controls cursor – blink detection represents “click” Cybernet

11. Commercial Success - Distributed Simulation • Distributed Simulation Products • OpenSkies scaled-up HLA for commercial game pay-for-play, messaging, routing (patented) • Engines for 3D, terrain, sound, chat, AI, scenarios, physics • Now Licensing to Game Developers for Massively Multiplayer PC Games (MMPG) • see //www.openskies.net for downloads and tutorials Cybernet

12. Platform Technology Standard Robotics/ Nav Retrofit Kits Cybernet

13. Field Portable OCU (Wireless HMI) 2002: “Wearable” OCU with software interface 1994: DARPA/TACOM Cybernet

14. Field Portable OCU (with Wireless Networking) 1994: DARPA/TACOM 1998: Ameritech 1992: ARL 1996: CECOM Cybernet

15. Networked Human-Robot Interface • System Architecture • Based on LAN technology • Client/Server • Wireless protocols • “Instant” Network • Network self-forming • Mobile routing as robots move in the field Cybernet

16. Vision Based Robotic Sensors • 3D object localization • Find “Pose” of the target (position and rotation of the target) in the field of view • Matches a known polymodel to an image from camera Polymodel Match Image from Camera Cybernet

17. Novel Robotic Platforms 6DOF Linkage Omnidirectional Platform Walking Robot CyberStryder (Virtual Environment) Cybernet

18. Motion Tracking Products Augmented GPS 3-axis Magnetometer GPS Motion and Gesture Tracking Automatic Parachute Deployment DifferentialOdometers Cybernet

19. Target RGB Reference Color Matching Color Space – RGB reference and Intensity volume Video Based Optical Tracking • Optical Tracking Based On: • Motion • Color • Shape Cybernet

20. Optical Tracking – Video Based • Example – UseYourHead™ Headtracker • Matches • Object Shape • Object Color • Simple USB Webcam • Headmotion is a mouse input • Hands remain free to perform other inputs Cybernet

21. NaviGaze – Headmouse for Disabled • Move mouse with any selected head feature • eye pupil • nostril • bridge of glasses • Click mouse by • closing eyes • flaring nose • WebCam video input Cybernet

22. Active Eyetracking & Headtracking • Localize objects in 3D space • Up to 30 tags • Up to 900 Hz update rate Tags on helmet track head motion Eyetracker integrated into HMD for Gaze Location Cybernet

23. Eyetracking & Headtracking • Fuse inputs from ET & HT to control virtual scene Headtracker (upper left) establishes frame of reference Eyetracker defines Gaze direction Cybernet

24. Active Tracking of Human Motion • Attach tags to body part to generate a digital file of complex motions Raw Video Raw Tracking Data Cybernet

25. Active Tracking of Human Motion • Raw video can be converted into a synthetic, rendered scene Raw Video Final Rendered Scene Cybernet

26. Staff Qualifications • PhD in Computer Science, EE, HCI • MSEE/CS/ME • Robotics/EE/CS/ME/HCI tech. Staff • Business Development • CAD/CAM for Mech. and EE. • Rapid Prototyping Facility • Expertise in electronics, digital, RF, software development, networks, robotics, security, web methods and e-commerce Cybernet