|
|
|
|
Program
November 1, 2000
| 10:30-11:00 | Gerd Hirzinger and Ralf Koeppe, DLR, Germany |
| "Towards a New Robot Generation - From Space to Surgical Applications" | |
| 11:00-11:30 | John Hollerbach, University of Utah, USA |
| "Animatronic and Entertainment Robots" | |
| 11:30-12:00 | Raja Chatila, LAAS, France |
| "Recent Advances on Mobile Robotics" | |
| 12:00-13:00 | Lunch |
| 13:00-13:30 | Ren C. Luo, National Chung Cheng University, Taiwan |
| "Mutlisensor Fusion and Integration for Robotics and Other Emerging Applications" | |
| 13:30-14:00 | Arthur C. Sanderson, RPI, USA |
| "Reconfigurable and Modular Robotics" | |
| 14:00-14:30 | C.S. George Lee, Purdue University, USA |
| "Theory and Applications of Neuro-Fuzzy Inference Systems" | |
| 14:30-15:00 | Christian Laugier, INRIA, France |
| "Real-time Motion Generation and Haptic Interaction in Virtual Reality Technology" | |
| 15:00-15:30 | Coffee Break |
| 15:30-16:00 | Vladimir Lumelsky, National Science Foundation, University of Wisconsin-Madison, USA |
| "Intelligent Sensing and Information Technology" | |
| 16:00-16:30 | T. J. Tarn, Washington University, USA |
| "Stability Analysis of Hybrid Systems and Its Controller Design" | |
| 16:30-17:00 | Antonio Bicchi, University of Pisa, Italy |
| "Minimalism and Nonholonomic Systems: Ways of Turning Constraints into Advantages" | |
| 17:00-17:30 | Ning Xi, Michigan State University, USA |
| "Control of Internet-Based E-Service Robots" | |
| 17:30-18:00 | T. C. Steve Hsia, President, IEEE Robotics and Automation Society University of California, Davis, USA |
| "The IEEE Robotics and Automation Society: The organization and Its Technical Activities" |
November 2, 2000
| 10:30-11:00 | Paolo Dario, Scuola Superiore S. Anna, Italy |
| "Personal Robotics: Current Technologies and Future Opportunities" | |
| 11:00-11:30 | Joris De Schutter, Katholieke Universiteit Leuven, Belgium |
| "Advances in Force Control for Dexterous Robots" | |
| 11:30-12:00 | Junku Yuh, University of Hawaii, USA |
| "Underwater Robotic Technology: Present and Future" |
Abstract:
Key items in the development of a new smart robot generation are explained by hand of DLR's recent activities in robotics research. These items are the design of articulated hands, ultra-light-weight links and joint drive systems with integrated joint torque control, sensory feedback including realtime 3D vision, learning and skill-transfer, modeling the environment using sensor fusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.
Speaker Biography:
Since 1992 he has been director at DLR's Institute of Robotics and Mechatronics. He has
published more than 150 papers in robotics, mainly on robot sensing, sensory feedback,
mechatronics, man-machine interfaces, telerobotics and space robotics. He was prime
investigator of the space robot technology experiment ROTEX, the first real robot in space,
which flew onboard shuttle COLUMBIA in April 93. He was vice-program chairman of the
IEEE Conference on Robotics and Automation 1994 and 1995, program chairman of IROS
(Intelligent Robot Systems Conference) 1994 and organizer of the 7th International
Symposium on Robotics Research (ISRR 95). In a large number of other international robot
conferences he was program committee member or invited plenary speaker.
For many years he has been chairman of the German council on robot control and administrative committee
member of the IEEE Society on Robotics and Automation. He rejected a number of chairs
offered to him by different European Universities. He received several national and
international awards, e.g. in 1994 the Joseph-Engelberger-Award for achievements in the
robotic science and in 1995 the Leibniz-Award, the highest scientific award in Germany and
the JARA (Japan robotics association) Award. In 1996 he received the Karl-Heinz-Beckurts-
Award, Germany's most important award for outstanding promotion of the partnership
between science and industry, and in 1997 the IEEE Fellow Award.
Today his institute with more than 100 co-workers (and around 80 ones in the closer field of
robotics) is one of the biggest and most acknowledged institutes in applied robotics research
world-wide.
Prof. Dr.-Ing. Gerd Hirzinger received his Dipl.-Ing. degree and the doctor's
degree from the Technical University of
Munich, in 1969 and 1974 respectively. In 1969 he joined DLR (the German Aerospace
Center) where he first worked on fast digital control systems. 1976 he
became head of the automation and robotics laboratory of DLR, where he and his co-workers
soon got several awards for innovative technology transfer from robotics research to
applications. In 1991 he received a joint professorship from the Technical University of Munich.
Since 1992 he is with the DLR, Institute of Robotics and Mechatronics, Germany.
He has been directing research projects in Neuro-Control since 1994,
High Fidelity Telepresence and Teleaction within the DFG
Collaborative Research Center (SFB) 453 since 1999 including
Minimal-Invasive-Surgery Robotics and Broadband Communication
technologies like Voice/Video/Haptic over IP and over ATM.
He has published papers on sensorimotor skill transfer of compliant motion,
force control, sensor fusion, human-machine interaction, and intelligent control.
Further research interest are humanoid control of robot arms,
human friendly robotics, soft-robotics, and Kansei Engineering.
Ralf Koeppe received the "Master of Science" degree in Mechanical Engineering
from Portland State University, Oregon in 1989,
the "Diplom-Ingenieur" degree in Mechanical Engineering
form University of Stuttgart, Germany in 1992. He is associated with
the Institute of Robotics at ETH Zuerich in Switzerland where he is
currently completing his Doctoral degree in Mechanical Engineering as an external
candidate. In 1996 he was visiting researcher at Yoshikawa's Robot
Laboratory at Kyoto University, Japan.
Abstract:
This talk surveys animatronic robots and entertainment robots, in particular, those created by Sarcos Research. Humanoid robots are one type of animatronic robot, which have been primarily created for entertainment (such as the Disney robot and the Ford robot category) but also for spacesuit testing and robotics research. Other animatronic robots include the robot dinosaurs for Universal Studios, and robot birds and lizards in a Polynesian-decour restaurant, which are primarily for entertainment. Finally, a programmable water fountain has been created at a Las Vegas hotel, which while not animatronic has strong entertainment appeal. Some issues of design and implementation are discussed.
Speaker Biography:
In 1984 he received an NSF Presidential Young Investigator Award, in
1988 he was named a Fellow of the Canadian Institute for Advanced
Research, and in 1996 he became an IEEE Fellow. He was the Program
Chairman of the 1989 IEEE International Conference on Robotics and
Automation, a member of the Administrative Committee of the IEEE
Robotics and Automation Society from 1989-1993, Technical Editor of
the IEEE Transactions on Robotics and Automation from 1989-1994, and
Treasurer of the IEEE/ASME Journal of Microelectromechanical Systems
from 1992-1997. He was a member of the 1994-1995 National Research
Council Committee on Virtual Reality Research and Development.
Presently he is Editor of the International Journal of Robotics
Research, a Senior Editor of Presence: Teleoperators and Virtual
Environments, and a Governing Board member of the electronic journal
Haptics-e. His research interests combine robotics, virtual reality,
and microelectromechanical systems.
John M. Hollerbach is Professor of the School of Computing, and
Adjunct Professor of Mechanical Engineering, at the University of
Utah. From 1989-1994 he was the Natural Sciences and
Engineering/Canadian Institute for Advanced Research Professor of
Robotics at McGill University, jointly in the Departments of
Mechanical Engineering and Biomedical Engineering. From 1982-1989 he
was on the faculty of the Department of Brain and Cognitive Sciences
and a member of the Artificial Intelligence Laboratory at MIT; from
1978-1982 he was a Research Scientist. He received his BS in
chemistry ('68) and MS in mathematics ('69) from the University of
Michigan, and SM ('75) and PhD ('78) from MIT in Computer Science.
Abstract:
Mobile robotics are now a very wide research area. A large number of such robots are developed in various laboratories worldwide, and the potential applications are numerous, although there are currently rather a small number of such applications commercially available today. The talk will present an overview of mobile robotics and focus on current techniques for sensing, navigation, motion planning, localization, and control architectures. Examples of applications will be given. The talk will discuss the difficult and open issues and future perspectives.
Speaker Biography:
Raja Chatila is Director of Research at the french national research
center (CNRS), received his Ph.D. in control science from the
University of Toulouse in 1981. He was one year with the Stanford
Artificial Intelligence Laboratory in 1982. Since 1983, he has been a
research scientist at LAAS-CNRS, Toulouse, France, where he leads
presently the Robotics and Artificial Intelligence Group. He performs
research on mobile robotics, architectures for planning and control,
and perception and environment representation. He lead projects on
intervention robots and planetary rovers. He has over 90 international
publications on several aspects of mobile robotics. He is currently
chair the computer and control science section of the french National
Committee of Scientific Research which evalutes french research
laboratories.
Abstract:
The development of specialized and unique robotic systems for each new task is very difficult and requires extensive resources, and, especially in remote and hazardous environments, it is impossible to revise designs to meet unanticipated requirements. In recent years, there has been considerable interest in the development of robotic systems that may address these issues through the use of reconfigurable and modular hardware, software, and architectures. Several approaches have been taken to these problems ranging from the use of modular components for conventional robot arm geometries to a variety of different mechanisms and architectures utilizing parallel and distributed structures to achieve reconfigurability. Such structures may have a goal of inherent self-reconfiguration, or may require intervention for the rearrangement of components. An additional goal of many of these systems has been to modularize and distribute the computation and supporting computer architectures so that the physical reconfiguration of the robot requires no reorganization of the supporting computational hardware, algorithms, or software. This talk will provide an overview of recent progress and new directions in both reconfigurable and self-reconfigurable systems and applications of modular systems in such domains as space, construction, undersea, medical, defense, and other arenas.
Speaker Biography:
Arthur
C. Sanderson,
Vice President for Research
Rensselaer Polytechnic Institute
and
Professor, Department of Electrical, Computer,
and Systems Engineering
Rensselaer Polytechnic Institute
Troy, NY 12180
Arthur C. Sanderson received his B.S. degree from Brown University, Providence, RI, in 1968, and the M.S. and Ph.D. degrees from Carnegie Mellon University, Pittsburgh, PA, in 1970 and 1972, respectively.
Dr. Sanderson has held faculty positions at Carnegie Mellon University from 1973 to 1987, where he was Co-Director of the Robotics Institute, and visiting positions at Delft University of Technology, Universidad Iberoamericana, Mexico City, Mexico, and Philips Laboratories, Briarcliff Manor, NY. In 1987, he joined Rensselaer Polytechnic Institute as Professor and served as Department Head of the Electrical, Computer and Systems Engineering Department from 1987 to 1994.
Dr. Sanderson is the author of over 250 publications and proceedings in the areas of biomedical signal processing, robotics and automation systems, sensor-based control, computer vision, and applications of knowledge-based systems. He recently published the books: Intelligent Task Planning using Fuzzy Petri Nets, World Scientific Publishers, 1996, with T. Cao, Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics, Kluwer Academic Press, 1998, with G. Hamlin, and Multisensor Fusion: A Minimal Representation Framework”, World Scientific Publishers, 1999, with R. Joshi.
He was President of the IEEE Robotics and Automation
Society from 1989-1990, and has been active in editorial activities and
conference organization. He is a Fellow of the IEEE and AAAS. He
has recently been the co-recipient of awards for innovation in undergraduate
engineering education. During 1996, Dr. Sanderson was on sabbatical
leave as Visiting Professor in the Intelligent Robotics Laboratory, Institute
for Information Sciences and Electronics, University of Tsukuba, Japan.
During 1998 and 1999, he was on leave from Rensselaer serving as Director,
Division of Electrical and Communications Systems at the National Science
Foundation. Beginning January, 2000, Dr. Sanderson is the Vice President
for Research of Rensselaer Polytechnic Institute.
Abstract:
Neuro-fuzzy systems are multi-layered connectionist networks that realize the elements and functions of traditional fuzzy logic control/decision systems. The trained neuro-fuzzy systems are isomorphic to a fuzzy logic system, and IF-THEN rule knowledge can be explicitly extracted from the network. This talk presents a brief introduction to neuro-fuzzy systems and addresses utilization and applications of neuro-fuzzy systems. Classification and control applications will be simulated online and discussed to illustrate the performance and applicability of neuro-fuzzy systems. Applications in robotics and automation will be discussed too.
Speaker Biography:
Professor C.S. George Lee is a Professor of Electrical and Computer
Engineering at Purdue University, West Lafayette, Indiana, U.S.A. An IEEE Fellow since 1993,
Professor Lee’s research has been focusing on robotics, assembly, and neuro-fuzzy systems.
Professor Lee has authored or co-authored over 140 publications in these areas, in addition to
two graduate textbooks, Robotics (McGraw-Hill, 1986) and Neural Fuzzy Systems (Prentice-Hall, 1996),
and 20 book chapters. Professor Lee has served as Secretary and Vice-President for Technical
Affairs for the IEEE Robotics and Automation Society, Program Chair of 1996 ICRA, and Program
Chair of 1998 IROS, and currently serves as an AdCom member.
Abstract:
Thanks to the recent progresses in the fields of Robotics and Computer Graphics, Virtual Reality technologies have greatly been improved during the last few years. This technological breakthrough will probably open the door in the near future to new application domains including virtual prototyping, medical simulators, video games, etc. However, most of these applications require the ability to process in real-time (or at an "interactive" rate at least) complex scenes involving various types of motions, deformations, objects interactions, and advanced user-system interactions (including haptic modalities). This means that appropriate models and algorithms have to be developed in order to meet all these requirements; it also means that new aspects of the movement and of the interaction have to be taken into account during the simulation process, e.g.: "quality" or "consistency" criteria instead of classical optimality criteria (e.g. human-like motions, or physically consistent behaviours), and "force-based" interactions instead of purely geometrical based processing.
Speaker Biography: