Technical Activities Board CASE 2008, Washington, DC Ken Goldberg, VP Technical Activities tab. ieee-ras. org
RAS Technical Activities Board • Ken Goldberg, VP Technical Activities • • • goldberg@berkeley. edu RAS Officers 45 Technical Committee co-chairs 24 Distinguished Lecturers Eugenio Guglielmelli, Assoc. VPTA Yasuhisa Hasegawa, Assoc. VPTA “At-large” members: Frank van der Stappen, Katsu Yamane, Henrik Christiansen, Matt Mason, Ruediger Dillman, Satoshi Tadukoro
RAS TAB Agenda, F 08 Meeting • • Spring 2008 Adcomm Decisions Review of DLs, Most Active Nominations Review of TCs, Most Active Nominations Triennial Reviews of TCs in 2009, 2010 GOLD events Process for appointing new TC Co-Chairs Milestones (IEEE, RAS)
ICRA 2008: TAB Proposals • Proposal: Increasing DL Transport budget – from $10 K -> $15 K/year • Proposal: Initiate Annual GOLD event at CASE – $2 K/year • Proposal: Retire TC-Prototyping • Proposal: Retire TC-Underwater Robots • Proposal: Retire TC-Manufacturing Automation • Proposal: Initiate TC-Robot Learning • Proposal: Initiate TC-Marine Robotics All Passed.
RAS Distinguished Lecturers Asia/Pacific: Tatsuo Arai (Japan) Hugh Durrant-Whyte (Australia) Xiaohong Guan (China) Hideki Hashimoto (Japan) Katsu Ikeuchi (Japan) Frank Chongwoo Park (Korea) Michael Wang (Hong Kong) N. Vishu Viswanadham (India) Europe: Alicia Casals (Spain) Dan Halperin (Israel) Jean Paul Laumond (France) Brad Nelson (Switzerland) Paul Newman (UK) Majid Nili (Iran) Klas Nilsson (Sweden) Gianmarco Veruggio (Italy) Americas: Greg Dudek (Canada) Lydia Kavraki (US) Vijay Kumar (US) Deirdre Meldrum (US) Robin Murphy (US) Javier Ruiz-del-Solar (Chile) Sebastian Thrun (US) Alfredo Weitzenfeld (Mexico)
Technical Committees – Triennial Review 2008 Aerial Robotics and Unmanned Aerial Vehicles Agricultural Robotics Algorithms for Planning and Control of Robot Motion Autonomous Ground Vehicles and Intelligent Transportation Systems Bio Robotics Computer & Robot Vision Haptics Human-Robot Interaction & Coordination Humanoid Robotics Manufacturing Automation Micro/Nano Robotics and Automation Networked Robots Prototyping for Robotics and Automation Rehabilitation & Assistive Robotics Roboethics Safety Security and Rescue Robotics Semiconductor Manufacturing Automation Service Robotics Software Engineering for Robotics and Automation Space Robotics Surgical Robotics Telerobotics Underwater Robotics
Technical Committees – Fall 2008 Aerial Robotics and Unmanned Aerial Vehicles Agricultural Robotics Algorithms for Planning and Control of Robot Motion Autonomous Ground Vehicles and Intelligent Transportation Systems Bio Robotics Computer & Robot Vision Haptics Human-Robot Interaction & Coordination Humanoid Robotics Marine Robots Micro/Nano Robotics and Automation Networked Robots Rehabilitation & Assistive Robotics Roboethics Robot Learning Safety Security and Rescue Robotics Semiconductor Manufacturing Automation Service Robotics Software Engineering for Robotics and Automation Space Robotics Surgical Robotics Telerobotics
Technical Committees – Triennial Review 2009: Aerial Robotics and Unmanned Aerial Vehicles Agricultural Robotics Algorithms for Planning and Control of Robot Motion Autonomous Ground Vehicles and Intelligent Transportation Systems Bio Robotics Computer & Robot Vision Haptics Human-Robot Interaction & Coordination Humanoid Robotics Marine Robots Micro/Nano Robotics and Automation Networked Robots Rehabilitation & Assistive Robotics Roboethics Robot Learning Safety Security and Rescue Robotics Semiconductor Manufacturing Automation Service Robotics Software Engineering for Robotics and Automation Space Robotics Surgical Robotics Telerobotics
Technical Committees – Triennial Review 2010 Aerial Robotics and Unmanned Aerial Vehicles Agricultural Robotics Algorithms for Planning and Control of Robot Motion Autonomous Ground Vehicles and Intelligent Transportation Systems Bio Robotics Computer & Robot Vision Haptics Human-Robot Interaction & Coordination Humanoid Robotics Marine Robots Micro/Nano Robotics and Automation Networked Robots Rehabilitation & Assistive Robotics Roboethics Robot Learning Safety Security and Rescue Robotics Semiconductor Manufacturing Automation Service Robotics Software Engineering for Robotics and Automation Space Robotics Surgical Robotics Telerobotics
Aerial Robotics and Unmanned Aerial Vehicles Flying opens new opportunities to robotically perform field services and tasks like search and rescue, observation and mapping. Key areas to be addressed include autonomous missions, localization and multi-vehicle coordination. Activities: • IEEE Robotics and Automation Magazine Special Issue "Unmanned Aerial Vehicles: Enabling Technologies and Roadmap for Autonomy", Guest Editors: K. P. Valavanis (USF) and G. J. Vachtsevanos (Georgia Tech) • Springer-Verlag Book on UAVs (to be published) • 2006 2 nd Annual Indoor Aerial Robot Competition, May 7, 2006 Philadelphia • ICRA 2006: • Full day workshop, “UAVs: Missions and Payloads” • Full day tutorial, “Hands-on Lessons for UAV Construction” • To Join, Contact Paul Oh: paul@coe. drexel. edu
Agricultural Robotics Ag. Guide Pty Ltd Australia and the National Centre for Engineering in Agriculture develop Vision/GPS/Inertial guidance systems for farm machinery >> more University of Southern Queensland researchers and the National Centre for Engineering in Agriculture develop image processing systems for livestock recognition >> more University of Georgia researchers develop networked autonomous GPS guided farm vehicles >> more Committee Chairs: Website: Jason Stone stonej@usq. edu. au (National Centre for Engineering in Agriculture) Professor John Billingsley billings@usq. edu. au (University of Southern Queensland) http: //www. usq. edu. au/users/billings/ieee/
Algorithms for Planning and Control of Robot Motion Integration of Planning and Control: Planning based on local feedback control policies (Connor, Choset, Rizzi, CMU); others results at UIUC, UMass Amherst, … Funding: STo. MP: $7. 8 million DARPA program headed by UIUC to investigate sensor-based planning and associated mathematical and algorithmic challenges; others: Penn, U of Chicago, Rochester, Carnegie. Mellon, Melbourne University, Arizona State, and Bell Labs/Lucent Contact Co-Chairs to Join: Applications in Molecular Biology: Protein folding kinetics (Texas A&M, Stanford); Simulating large-amplitude molecular motion (LAAS); Protein structure prediction (UMass Amherst); other results at CMU, Rice, … Real-World Implementation: Motion planning algorithms are being implemented on real-world humanoid robots at U Tokyo, AIST, CMU, … Oliver Brock (oli@cs. umass. edu) Tsutomu Hasegawa (hasegawa@irvs. is. kyushu-u-ac. jp); Steve La. Valle (lavalle@uiuc. edu) Thierry Simeon (nic@laas. fr)
Bio Robotics Recent Advances: A bipedal jumping and landing robot with artificial musculoskeletal system inspired on an animal has been presented. Experiments showed the abilities of the robot to realize vertical jumping. Reference: R. Niiyama, A. Nagakubo, Y. Kuniyoshi, “Mowgli: A bipedal jumping and landing robot with an artificial musculoskeletal system”, in Proc. of ICRA, pp. 2546 -2551, 2007. Contact email to join: • TC_contact@takanishi. mech. waseda. ac. jp A new bio-inspired climbing robot designed to scale smooth vertical surfaces has been presented. The robot, called Stickybot, draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb smooth vertical surfaces. M. Cutkosky, et al. , “Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, ” Proc. ICRA 2007, pp. 1268 -1273. A humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. Two arms and hands are combined with a three degrees-offreedom movable torso and a visual system to form a complete humanoid upper body. G. Hirzinger, et al. , “A humanoid upper body system for twohanded manipulation, ” Proc. ICRA 2007, p. 2766 -2767 TC Co-Chairs: Atsuo Takanishi, Waseda University Blake Hannaford, University of Washington
Things Objects Computer and Robot Vision Attention points 3 D Segmentation Grouping 2 D Attributes 3 D Attributes Real-time, stereo based vision systems for scene modeling, segmentation, object and activity recognition 2 D/3 D Attributes Object modeling for grasp planning and execution Vision Based Simultaneous Localization and Mapping To join contact: Danica Kragic (dani@kth. se) Active humanoid head (University of Karlsruhe)
Haptics Haptic Science Tactile display to investigate longitudinal recall of meaningful tactile signals (haptic icons) (Univ. of British Columbia) and skin stretch device for virtual proprioception tasks (Stanford Univ. ) Haptic Technology Haptic device by Distributed Macro-Mini actuation (Univ. of Wisconsin-Madison and Stanford Univ. ) and tactile pattern display using Piezoelectric Bending Element (Northwestern Univ. ) International conferences on haptics Haptic Application Graphics display by lateral skin deformation (Mc. Gill Univ. ) world. Haptics (every two years in Europe, Asia, and North America) Haptic Symposium and Euro. Haptics (every other two years in the US and Europe) A new transaction on Haptics will be published ! Publication will commence in the fall of 2008, and issues will appear quarterly. Visit http: //www. computer. org/toh for detail. Visit our Web site and contact co-chairs to join: http: //www. worldhaptics. org/ Matthias Harders mharders@vision. ee. ethz. ch Marcia O’Malley omalleym@rice. edu Yasuyoshi Yokokohji yokokohji@me. kyoto-u. ac. jp
Human-Robot Interaction and Coordination Co-Chairs: Cecilia Laschi , Cynthia Breazeal, Yasushi Nakauchi • Recent Technical Developments in HRI – Computational models of core human socio-cognitive skills (such as perspective taking and shared attention) have been successfully demonstrated to improve the quality of human-robot teamwork and interaction – HRI frameworks have successfully been applied to traditional machine learning methods to enable humanoid and mobile robots to learn from natural human interactions via imitation, demonstration, and tutelage. – The HRI community has embarked on developing evaluation metrics that embrace multi-disciplinary perspectives such as human factors, psychology, robotics, etc. for diverse areas of HRI such as Urban Search and Rescue, Social Robotics, H-R teams for Space Exploration, and more. Leonardo sharing attention during collaborative tasks at MIT Media Lab DB learning by demonstration to play air-hockey at ATR • TC email list: tchric@hri. iit. tsukuba. ac. jp Robonaut (teleop)-astronaut teams at NASA JSC
Humanoid Robotics Recent Activities • 2006 IEEE-RAS International Conference on Humanoid Robots – – Organized by Giulio Sandini and Aude Billard Dec. 4 -6, Genova, Italy 100 Presentation (161 submitted) 240 Attendees • Steering Committee Meeting of the TC on Humanoids (at Humanoids 2006) – – – Humanoids Steering/Advisory Committee (TC) Members Structure Conference Policy Report of Humanoids Conference 2005, 2006, 2007 Future Humanoids Conference (2008, 2009, . . . ) R&D Collaboration Future Perspectives • Humanoids 2007 – Nov. 28 -30 – The Robotics Institute, Carnegie Mellon University – General Chair: James Kuffner • Collaborative Development of Software Platform (Continuous Project from 2006)
Co-chairs: Christian Laugier; Urbano Nunes; Alberto Broggi Some examples of recent technical developments in robotics technologies applied to ITS for quality of life, efficiency, mobility, safety, challenge. The DARPA Grand Challenge • The first race ever that saw 5 autonomous vehicles reach the finish line after 130+ miles of desert, rough terrain, and extreme conditions. • The first time that unmanned vehicles succeed in this extremely complex task. Cybercars: a new approach for sustainable mobility Emerging as an alternative to the private passenger car, cybercars try to offer the same flexibility and much less nuisances based on fully automated electrical vehicles with on-demand door-to-door capability. Fleets of such vehicles are being deployed in several worldwide cities and are already operational in specific environments such as shuttle services for passenger transportation. Major breakthrough in automobile Combination of Adaptive Cruise Control (ACC) and Lane Keep Assist System (LKAS). 2005/06 Join RAS TC on ITS: Contact: Urbano Nunes, urbano@isr. uc. pt
Micro / Nano Robotics and Automation Recent Advances: Electron micrograph of a nanoactuator built from telescoping carbon nanotubes. Note the difference in length between top and bottom panels. Reference: L. Dong, B. J. Nelson, T. Fukuda and F. Arai, “Towards Linear Nano Servomotors”, IEEE Trans. on Automation Science & Engineering, 2006, pp. 228 -235. Fully automatic manipulation of nanoparticles with sizes ~ 10 nm. Planned sequence of operations on left AFM image result on the pattern on right. Reference: B. Mokaberi, J. Yun, M. Wang and A. A. G. Requicha, “Automated Nanomanipulation with Atomic Force Microscopes”, ICRA 07, Rome, Italy, 2007. Fully automatic navigation of a ferromagnetic bead in the carotid artery of a living swine. Reference: J-B. Mathieu and S. Martel, “In Vivo Validation of a Propulsion Method for Untethered Microrobots Using a Clinical Magnetic Resonance Imaging System”, IROS 07, San Diego, USA, 2007. Contact Co-Chairs to Join: Fumihito Arai arai@imech. tohoku. ac. jp Nicholas Chaillet nicolas. chaillet@femto-st. fr Ari Requicha requicha@usc. edu
Networked Robots Recent Advances: Coordinating large heterogeneous mobile robot team. Reference: A. Howard, L. E. Parker, and G. S. Sukhatme “Experiments with Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection”, Internal Journal of Robotics Research, 5 2006; vol. 25: pp. 431 - 447 Surveillance, search, and rescue applications. Reference: B. Grochosky, J. Keller, V. Kumar, and G. J. Pappas, “Cooperative Air and Ground Surveillance ”, IEEE Robotics and Automation Magazine, Volume 13, Issue 3, September 2006, pages 16 -25. . Contact Co-Chairs to Join: Asia: Norihiro Hagita <hagita@atr. jp> Europe: Klaus Schilling <k_schi@t-online. de> USA: Dez Song <dzsong@cs. tamu. edu>
Rehabilitation & Assistive Robotics CO-CHAIRS: Michelle J. Johnson Marquette University, USA (From RAS Area 1: Americas) Eugenio Guglielmelli Università Campus Bio-Medico, Italy (From RAS Area 2: Europe, Middle Est & Africa) Takahori Shibata AIST, Japan (From RAS Area 3: Asia & Oceania) EMERGING TREND: REHAB & ASSISTIVE ROB FOCUS ON NEURODEVELOPMENT EXOSKELETON FOR LOWER LIMB MOTOR THERAPY The Pediatric Lokomat (Hocoma Ltd) for intensive locomotion therapy of children with neurological disorders MECHATRONIC TOYS AND WEARABLE DEVICES FOR EARLY DIAGNOSIS OF NEURODEVELOPMENTAL DISORDERS A sensorized rattle toy equipped with multiple inertial, magnetic and tactile sensors for behavioral analysis of infants in ecological settings ROBOTIC TOYS FOR TREATMENT OF AUTISTIC CHILDREN Keepon, the robot developed in Japan by H. Kozima et al. as part of the Infanoid project to investigate the underlying mechanisms of social intelligence To join the TC and receive most updated information in the field just e-mail: Rehab. Rob@ieee. org To know more about these news access our website through the TAB link from the RAS Homepage
MEMBER COUNTER 80 Roboethics It is the human-centered ethics guiding the design, construction and use of the robots. Gianmarco Veruggio <gianmarco@veruggio. it> (Corresp. Co-chair) Ronald C. Arkin <arkin@cc. gatech. edu> (Co-chair) Atsuo Takanishi <takanisi@waseda. jp> (Co-chair) RECENT DEVELOPEMENTS • International Symposium “Robotics: A New Science” @ Accademia Nazionale dei Lincei, February 20, 2008 - Rome, Italy. (G. Veruggio: “Roboethics: Philosophical, Social and Ethical Implications of Robotics”) • Table Ronde “Roboéthique” @ JNRR 07 - Journées Nationales de la Recherche en Robotique. October 10, 2007 - Obernay, France. “Keynote by G. Veruggio and Rodolphe Gelin). • Seventh International Computer Ethics Conference, July 14, 2007 - University of San Diego, USA. (Keynote by G. Veruggio on “Ethical and Societal issues in Robotics”). • Track on “Philosophy and Ethics of Robotics” @ ECAP 07 - European Computing and Philosophy Conference. June 23, 2007 - University of Twente, Enschede, The Netherlands. Chair G. Veruggio. info@roboethics. org http: //www. roboethics. org/ieee_ras_tc/
Safety, Security and Rescue Robotics Outreach to Response Organizations Emergency response organizations around the world are being exposed to research and commercial robots at training exercises and field demos in Japan, Italy, USA, . . Workshops: IROS 2007: Rescue Robotics DDT Project on Urban Search and Rescue SICE 2008 Organized Session: Safety, Security, and Rescue Robot Systems 6 th IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2008) October 2831, 2008 – Tohoku University, Sendai, Japan General Chair: Satoshi Tadokoro Contact Co-Chairs to Join: Research Directions Mobility in collapsed structures remains a key area of research, worldwide. Human/Computer Interaction under stress is receiving increasing emphasis. The first systematic studies of Wilderness Search and Rescue are starting to appear. New Research Installations: $2 M National Testbed for Safety Security Technologies broke ground this spring at USF (USA). This testbed will house indoor collapsed structure simulation capabilities including smoke and rain. Daniele Nardi (Daniele. Nardi@dis. uniroma 1. it) Richard Voyles (rvoyles@du. edu); Fumitoshi Matsuno (matsuno@hi. mce. uec. ac. jp) Or contact ssrr-info@hi. mce. uec. ac. jp
Semiconductor Manufacturing Automation
Service Robots Recent Advances/inventions: Humanoid sales representative, Advanced Telecommunications Research Institute, Japan, January 2008. Tankpitstop, Winding Road, 2/5/08. Contact Co-Chairs to Join: http: //www. service-robots. org Hadi Moradi moradih@ut. ac. ir/ moradi@usc. edu Giovanni Muscato gmuscato@diees. unict. it
Software Engineering in Robotics & Automation Davide Brugali, Giuseppe Menga Franco Guidi Polanco brugali@unibg. it menga@polito. it fguidi@ucv. cl Current Number of Members: 24 Advances in Robot Software Development Pursuing the synergy between Robotics and Software Engineering • • • STAR book “Software Engineering for Experimental Robotics” 2007 SDIR-II Workshop at ICRA 2007 SDIR-III Workshop at ICRA 2008 (proposal) Robotic software frameworks and tools • • • NASA / JPL CLARAty open source September 2007 “Robot Software” @ Wikipedia : several projects ROSTA http: //wiki. robot-standards. org/ Domain engineering • • Software Abstraction for robot embodiment: The Any. Morphology project at Uni. BG Measures and Procedures for the Evaluation of Robot Architectures The EU ROSTA project
Space Robotics TC Web site: was expanded and maintained http: //teamster. usc. edu/~fixture/Robotics/Space. Robotics. TC. html … Planetary Robotics: Mars rovers (JPL, ESA, LAASCNRS, Swiss Federal Institute of Technology in Zurich, Tohoku University, CMU, Stanford University, Universität Bremen) … Orbital Robotics: Inspection and Maintenance Robot (Northrop Grumman); Manipulation of Flexible Space Structures (Georgia Tech); Form Based Control Algorithm (Cleveland State University); Coordinated Control of Space Robot Teams (MIT); Space Manipulator Analysis (JAXA); Autonomous Spacecraft Proximity Maneuvers (Naval Postgraduate School) … Organizational: Membership increased from 13 to 18 in 2007; continued cooperation with other organizations; ICRA workshops in ’ 07 and ’ 08, attendance at IROS ‘ 07 and ICRA ‘ 08 RAS TAB meeting… Contact Co-Chairs to Join: Rick Wagner (Rick. Wagner@NGC. com) Dimi Apostolopoulos (da 1 v@cs. cmu. edu) Hobson Lane (Hobson. Lane@NGC. com) Richard Volpe (volpe@jpl. nasa. gov)
Surgical Robotics TC Co-Chairs: Jaydev P. Desai, RAMS Lab, jaydev@umd. edu Frank Tendick, frank. tendick@ucsf. edu Mamoru Mitsuishi, mamoru@nml. t. u-tokyo. ac. jp Robot-Assisted Lung Brachytherapy A. L. Trejos, S. Mohan, H. Bassan, A. Lin, A. Kashigar, R. V. Patel, R. Malthaner In-Vivo Pan/Tilt Endoscope with Integrated Light Source Tie Hu, Peter K. Allen, Dennis L. Fowler MRI Compatible Robotic Radiofrequency Ablation with Haptic Feedback Rebecca Kokes, Kevin Lister, Rao Gullapalli, Bao Zhang, Howard Richard, Jaydev P. Desai
Telerobotics Teleoperation of mobile robots: Mobile haptic interface and mobile teleoperator Technische Univ. München, Univ. di Roma, Univ. Politecnica de Madrid Workshops: ICRA 2008: New Vistas and Challenges in Telerobotics Contact Co-Chairs to Join: Manuel Ferre(mferre@etsii. upm. es) Nikhil Chopra (nchopra@umd. edu); Angelika Peer (angelika. peer@tum. de) Cristian Secchi (cristian. secchi@unimore. it) Multi-master/multi-slave teleoperation: Multiple robots for increasing telepresence and remote functionalities Technische Univ. München, Teleoperation of Mobile Robots (UIUC), … Master Side Comm. Channel Slave Side Advanced bilateral control New control strategies for improving telepresence Port-Hamiltonian strategies (Univ. of Modena and Reggio Emilia and Univ Twente), Synchronization (UMD and UIUC), Wave variables (Stanford), …
Technical Committees – Fall 2008 Aerial Robotics and Unmanned Aerial Vehicles Agricultural Robotics Algorithms for Planning and Control of Robot Motion Autonomous Ground Vehicles and Intelligent Transportation Systems Bio Robotics Computer & Robot Vision Haptics Human-Robot Interaction & Coordination Humanoid Robotics Marine Robots Micro/Nano Robotics and Automation Networked Robots Rehabilitation & Assistive Robotics Roboethics Robot Learning Safety Security and Rescue Robotics Semiconductor Manufacturing Automation Service Robotics Software Engineering for Robotics and Automation Space Robotics Surgical Robotics Telerobotics
Field of Interest Statement The Society strives to advance innovation, education, and fundamental and applied research in Robotics and Automation. Robotics focuses on systems incorporating sensors and actuators that operate autonomously or semiautonomously in cooperation with humans. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments. Automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously, often in structured environments over extended periods, and on the explicit structuring of such environments.
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