July 7, 2010, 8:30AM ~ 9:30 AM
Robot Interaction Control Using Force and Vision
Bruno Siciliano, University of Naples, Italy
July 8, 2010, 8:30AM ~ 9:30 AM
Intelligent Propulsion, Power and Communication Systems for NASA Aeronautics and Space Missions
Jih-Fen Lei, NASA Glenn Reserach Center, USA
July 9, 2010, 8:30AM ~ 9:30 AM
Skin-Like Large-Area Sensors and Actuators Using Printed Transistors
Takao Someya, University of Tokyo, Japan
July 7, 2010, 8:30AM ~ 9:30 AM
Robot Interaction Control Using Force and Vision
Bruno Siciliano
Director of the PRISMA Lab in the Department of Computer and Systems Engineering
University of Naples, Italy
Abstract
Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human environments and is vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will gradually touch people and their lives. Applications of intelligent robots that work in contact with humans are increasing, which involve, e.g., haptic interfaces and teleoperators, cooperative material-handling, power extenders and such high-volume markets as rehabilitation, physical training, entertainment. In this scenario, the problem of controlling the physical interaction between the robot and the human is of concern. This talk is aimed at presenting a unified framework for development of robot interaction control schemes using vision and force; vision provides global information on the surrounding environment to be used for motion planning and obstacle avoidance, while force allows adjusting the robot motion so that the local constraints imposed by the environment are satisfied. The proposed solution is to adopt positionbased visual servoing when the robot is far from the object, where the relative pose of the robot with respect to the object is estimated recursively using only vision. On the other hand, when the robot is in contact with the object, any kind of force control strategy can be adopted (hybrid force/position control, parallel force/position control, impedance control), and the relative pose of the robot with respect to the object is estimated recursively using vision, force and joint position measurements. Remarkably, all control schemes are experimentally tested on a setup consisting of an industrial robot with open control architecture, force/torque sensor and hybrid camera. Some results with a dual-arm system are also discussed. The presentation will be accompanied by videos.
Biography
Bruno SICILIANO was born in Naples, Italy, on October 27, 1959. He received the Laurea degree and the Research Doctorate degree in Electronic Engineering from the University of Naples in 1982 and 1987, respectively. He is Professor of Control and Robotics, and Director of the PRISMA Lab in the Department of Computer and Systems Engineering at University of Naples. His research interests include: identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators, lightweight flexible arms, space robots, human-centered and service robotics. He has co-authored 7 books, 70 journal papers, 170 conference papers and book chapters; his book Robotics: Modelling, Planning and Control is one of the most widely adopted textbooks world-wide. He has delivered 80 invited lectures and seminars at institutions worldwide. He is a Fellow of IEEE, ASME and IFAC. He is Co-Editor of the Springer Tracts in Advanced Robotics series, and has served on the Editorial Boards of several journals as well as Chair or Co-Chair for numerous international conferences. He co-edited the Springer Handbook of Robotics, which received the PROSE Award for Excellence in Physical Sciences & Mathematics and was also the winner in the category Engineering & Technology. He is the coordinator of the large-scale integrating project DEXMART on dexterous and autonomous dual-arm/hand manipulation, funded by the European Commission in the 7th Framework Programme. He has served the IEEE Robotics and Automation Society as Vice-President for Technical Activities and Vice-President for Publications, as a member of the AdCom, as a Distinguished Lecturer, and as the Society President.
Plenary Talk II
July 8, 2010, 8:30AM ~ 9:30 AM
Intelligent Propulsion, Power and Communication Systems for NASA Aeronautics and Space Missions
Jih-Fen Lei
Director, Research and Technology
NASA Glenn Reserach Center
Abstract
Over the past 50 plus years, US National Aeronautics and Space Administration (NASA) researchers have made major technology contributions that have expanded horizons and opened new frontiers for both aviation and space exploration. These technology innovations have also enriched our daily life. This presentation will provide an overview of NASA Vision and Missions, as well as the research and technology programs that are being pursued with partnership with academia and industries. Focus will be given to the advanced intelligent systems for propulsion, power and communication applications that are enabled by the advancement in Microsystems and nanotechnology.
Biography
DR. JIH-FEN LEI : Director of the Research and Technology at the National Aeronautics and Space Administration’s (NASA) Glenn Research Center in Cleveland, Ohio, Dr. Lei is an accomplished researcher leading more than 750 staff in conducting advanced research and technology development in propulsion, power, communication, high-temperature materials and structures, microgravity research, instrumentation and controls, nanotechnology and biotechnology. Her Performance and service has awarded her: the U.S. Presidential Meritorious Rank Award; the Army Research Laboratory’s Honorary Medal for Technical Achievement of the Year; the Federal Executive Board Recognition Award; Technology Innovation in Government Award; NASA’s Equal Opportunity Medal; NASA’s Public Service Medal; and three prestigious R&D 100 Innovation awards. Dr. Lei has developed state-of-the art sensors, instrumentation and protective coating for aircraft and rocket applications. She has authored or co-authored over 95 publications, and given over 60 talks at various national and international conferences and events. Dr. Lei earned her bachelor's degree in physics from National Tsing-Hwa University, Taiwan, and her doctorate in material science and engineering from Northwestern University, Evanston.
Plenary Talk III
July 9, 2010, 8:30AM ~ 9:30 AM
Skin-Like Large-Area Sensors and Actuators Using Printed Transistors
Takao Someya
Professor of Department of Electric and Electronic Engineering
University of Tokyo, Japan
Abstract
In view of the tremendous technical challenges for realizing next-generation information technology, organic semiconductors have attracted significant attention since the emerging electronics based on them have features that are complimentary to main stream electronics based on silicon. Thanks to the recent advent of organic transistors, the emergence of a new class of electronics makes full use of the unique features of organic semiconductors, such as the ultralow cost, low weight, and flexibility, is becoming more realistic. With this background, our group discerned that large-area circuits could be easily fabricated using organic transistors, which are essential for certain applications, and has developed large-area sensors and actuators using organic transistors. More accurately, we have integrated various types of sheet-type sensors and sheet-type actuators with organic transistors on plastic films and have demonstrated electronic artificial skins (Eskins), sheet-type Braille displays, and many other sheet-type devices.
In the forthcoming ambient electronics era, multiple electronic objects are scattered on walls, ceilings or in imaginative locations and interact each other to enhance safety, security and convenience. For implementation of many electronic objects in our daily life, large-area sheet-type devices are needed and organic transistors are expected to play an important role.
In this talk, I will describe recent progress and future prospects of organic transistor-based flexible, large-area, skin-like sensors and actuators. Moreover, the issues and the future prospect of organic transistors will be addressed from the view point of ambient electronics.
Biography
Takao Someya received the Ph.D. degree in electrical engineering from the University of Tokyo in 1997. Since 2009, he has been a professor of Department of Electric and Electronic Engineering, the University of Tokyo. From 2001 to 2003, he worked at the Nanocenter (NSEC) of Columbia University and Bell Labs, Lucent Technologies, as a visiting scholar. Since 2009, he has been a global scholar of Princeton University. His current research interests include organic transistors, flexible electronics, plastic integrated circuits, large-area sensors, and plastic actuators. Prof. Someya has received a number of awards, a Japan Society for the Promotion of Science (JSPS) Prize, the 1st Prize of the newly established German Innovation Award, and 2004 IEEE/ISSCC Sugano Award. He is a member of the board of directors of the U.S. Materials Research Society since 2008 and an IEEE/EDS Distinguished Lecturer. Prof. Someya?s ?large-area sensor array? electronic thin film was featured in Time Magazine as one of its ?Best Inventions of 2005? in its November 21st issue.
A Mechatronic Approach to Disaster Readiness
Clarence W. de Silva
Canada Research Chair Professor of Mechatronics and Industrial Automation
University of British Columbia, Vancouver, Canada
Abstract
A mechatronic system is an integrated multi-domain system. A unified model, an evolutionary strategy, a design expert system, on-line monitoring, and fault diagnosis may be integrated to ?evolve? design improvements for an existing mechatronic system. Also, an integrated mechatronic approach may be used in coordinated operation and control of a multi-robot system. This talk will present a two-prong mechatronic approach to accommodating potential disasters in engineering practice. First, the talk will address system monitoring, fault detection and diagnosis, and design evolution as means to avoiding disasters related to engineering systems. Specifically, it will present a unified approach for modeling and analysis of a mechatronic system, and an integrated approach for fault detection, diagnosis, and ?design evolution? of an existing mechatronic system.
Next, the talk will present a cooperative multi-robot system for providing emergency services such as clearance, cleanup and human rescue in a disaster situation in an urban environment. In this application it is assumed that the available robots are heterogeneous with different types and levels of resources and capabilities and are not specifically designed for the emergency application. The robots will have their regular tasks for which they are designed (e.g., trash clearing, traffic control, providing assistance to the elderly and the disabled, surveillance). Also it is assumed that there is a means for communicating with robots from any location (e.g., wireless sensor network). When called upon to carry out an emergency operation, the available robots in the neighbourhood will quickly navigate to the site and will negotiate the necessary tasks based on the needs, the robot capabilities, and the available material and other resources. Then they will carry out cooperative tasks to provide appropriate assistance (e.g., construction of a carriage or cart, rescuing humans, providing first aid). Examples will be provided during the talk to illustrate the approaches and their application.
Biography
Clarence W. de Silva is a Professor of Mechanical Engineering and occupies the Tier 1 Canada Research Chair Professorship in Mechatronics & Industrial Automation at the University of British Columbia, Vancouver, Canada. A Professional Engineer (P.Eng.), he is also a Fellow of: ASME, IEEE, Canadian Academy of Engineering, and the Royal Society of Canada. He has authored 19 books and over 400 papers, half of which are in journals. He has received many awards including the Paynter Outstanding Investigator Award and the Takahashi Education Award of ASME Dynamic Systems and Control Division; Killam Research Prize; and Outstanding Engineering Educator Award of IEEE Canada. He has served as Editor/Associate Editor of 14 journals including ASME and IEEE transactions; and as Editor-in-Chief of International Journal of Control and Intelligent Systems. He received Ph.D. degrees from Massachusetts Institute of Technology, USA (1978) and the University of Cambridge, UK (1998), and an Honorary D.Eng. from the University of Waterloo, Canada (2008).
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