Introduction Ox as long as d AGV Project (1988-1997) Human-Centred Robotics Typical Applications Conclusion

Introduction Ox as long as d AGV Project (1988-1997) Human-Centred Robotics Typical Applications Conclusion www.phwiki.com

Introduction Ox as long as d AGV Project (1988-1997) Human-Centred Robotics Typical Applications Conclusion

Rosen, Debrah, Managing Editor has reference to this Academic Journal, PHwiki organized this Journal Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk Mike Brady Research Symposium From Ox as long as d AGVs to Human-Centred Robotics Introduction 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 1950s 1980s 2000s 4th stage Human-centred environments 3rd stage Unstructured environments 2nd stage Structured environments Human’s dream of replicating themselves Industrial Robots Field Robots 1920s Service Robots Ox as long as d AGV Project 1st stage Imaginary world Ox as long as d AGV Project (1988-1997) Tracked vehicle Robuter Turtle LICAR1 OxNav Key issues: Multi-sensor integration Sensor-based control Autonomous navigation & mapping Toward unstructured environments 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Funded by EPSRC GR/E42416 – £230K (1988-91) GR/G37361- £270K (1991-94) GR/K39844 – £350K (1994-97) plus other grants (Hugh & Penny) Video

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To operate in human-centred environments that are not structured in any way as long as robots. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Human-Centred Robotics 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) Intelligent Appliance Intelligent Home/ Office/Building Intelligent Transportation System Intelligent Health Care System Intelligent Personal Assistant Internet & Wireless Security Robots Service Robots 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Typical Applications Industrial Robots in Medical ROBODOC (1992, IBM), based on an IBM scara robot as long as hip in addition to knee surgeries. Rehabilitation Robot 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Da Vinci Surgical Robot video Encoders & Force sensors

Dextrous H in addition to as long as Service Robots 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. A high-speed robot h in addition to (Komuro’s Lab at Univ. of Tokyo) per as long as ms impressive acts of dexterity & skillful manipulation (2009). EU-FP7-DEXMART-2009 Shadow C6M Dextrous H in addition to (20 motors) IIT Dextrous H in addition to as long as the iCub robot (22 DOFs, extremely compact, & light 0.5Kg) Field Robots as long as Military 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Two robots made by Boston Dynamics BigDog robot RHex robot Robotic Fish built at Essex 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. G8 – Robotic Fish G5 – Robotic fish G4 – Robotic fish G6 – Robotic fish G9 – Robotic fish G14 – Robotic fish Funded by London Aquarium

EU FP7 ICT Project – SHOAL 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Testing at De Gijon Port, Spain Referred from NMRI, Japan Sensor networks A shoal of robotic fish will function in collaboration, monitor pollution in a port, in addition to map pollution levels & its position. Robotic Swarm as long as Environmental Monitoring Prof. H. Hu, School of CSEE, University of Essex, U.K. Video For optimal coverage of an environmental variable as long as pollution monitoring. Control of real in addition to simulated agents using a combination of bacteria controller in addition to flocking controller. Architecture in addition to system design as long as the System. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Head gesture based control Voice based control H in addition to s-free Control of Wheelchair

EMG based control of a wheelchair at Essex 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. CyberLink – small wearable headb in addition to with 3 bio-sensors. EMG – b in addition to pass 70- 1000Hz. eyebrow tension EOG – b in addition to pass 0.2-3Hz. Video 1 Funded by The Royal Society & Royal Academy of Engineering Video 2 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Brain Actuated Control 16-CH A/D Amplifiers Headcap-64 Electrodes Video Funded by EPSRC; Partner: Ox as long as d University (Steve Roberts) Multi-sensor Perception 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. People are tracked using a multi-sensor solution, i.e. the camera as long as face detection The SICK laser scanner as long as legs detection Three recognition modalities are integrated height clothes face recognition People tracking with service robots

Bank of Filters as long as Joint People Tracking & Identification 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Experiment 1- Tracking 1 Person 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Multiple Targets Data association problem Different persons Different readings State estimation person A State estimation person B face / legs of A face / legs of B

Experiment 2 – Tracking 3 people 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Lux as long as University Open Day Conclusion 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 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). Future Challenges 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Multi-modality human-machine interaction How to effectively conquer home environments. Memory & Machine Consciousness Incremental Learning as long as life-long adaptation Interdisciplinary: psychology, medical, neuroscience, sociology, ethics, etc.

Thanks to Mike who led me into the robotics research at Ox as long as d, which was exciting & enjoyable. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. Please see my homepage as long as more in as long as mation http://csee.essex.ac.uk/staff/hhu Q & A Thanks to my colleagues in addition to students at Essex who made contributions to this talk.

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