Report on TAB Meeting, Fall 2009 (14MB ) - Ken Goldberg

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TAB Meeting

IROS 2009, St. Louis

IEEE RAS


tab.ieee
-
ras.org

RAS Technical Activities Board


Ken Goldberg, VP Technical Activities


Eugenio Guglielmelli, Assoc. VPTA


Yasuhisa Hasegawa, Assoc. VPTA


Roz Snyder, RAS Exec. Admin


RAS Officers


45 Technical Committee co
-
chairs


24 Distinguished Lecturers


“At
-
large” members: Frank van der Stappen, Katsu Yamane,
Henrik Christiansen, Matt Mason, Ruediger Dillman, Satoshi
Tadukoro


RAS TAB Agenda, F09 Meeting



GOLD events: evaluation and recommendations


Review of DL activities & Next DL Nominations


Review of TCs


Triennial Review of TCs in 2010


RAS Research Milestones, Wiki


RAS Technical Communities


Summary of TAB Accomplishments


Open Discussion


Adjourn.



GOLD Events

At ICRA, IROS, CASE…Others?

Majid Nili

Klas Nilsson

Bruno Siciliano

Roland Siegwart


Americas

Nancy Amato

Mario Campos

Vijay Kumar

Peter Luh

Deirdre Meldrum

Tim Salcudean

Metin Sitti

Alfredo Weitzefeld



RAS Distinguished Lecturers

Asia and Pacific

Hugh Durrant
-
Whyte

Li
-
Chen Fu

Shuuji Kajita

Frank Park

Yoshihiko Nakamura

Shigeki Sugano

N. Vishu Viswanadham

Michael Wang


Europe

Wolfram Burgard

Alicia Casals

Dan Halperin

Jean Paul Laumond






RAS Technical Committees


Fall 2009


1.
Aerial Robotics and Unmanned Aerial Vehicles

2.
Agricultural Robotics

3.
Algorithms for Planning and Control of Robot Motion

4.
Autonomous Ground Vehicles and Intelligent Transportation Systems

5.
Bio Robotics

6.
Computer & Robot Vision

7.
Energy, Environment, and Safety Issues in Robotics and Automation

8.
Haptics

9.
Human
-
Robot Interaction & Coordination

10.
Humanoid Robotics

11.
Marine Robotics

12.
Micro/Nano Robotics and Automation

13.
Networked Robots

14.
Performance Evaluation and Benchmarking of Robotic and Automation Systems

15.
Rehabilitation & Assistive Robotics

16.
Roboethics

17.
Robot Learning

18.
Safety Security and Rescue Robotics

19.
Semiconductor Manufacturing Automation

20.
Service Robotics

21.
Software Engineering for Robotics and Automation

22.
Space Robotics

23.
Surgical Robotics

24.
Telerobotics



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


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




Objective:

Promotion of exchanges among researchers from academia,
industry and government. The purpose is to identify the technologies and
technical approaches to advance and mature the field of aerial robotics.



Recent Activities:

More than 10 workshops and conferences organized



Member Count:

111



Topics of Interest:

Include but not limited to:



Airframe design



Sensor suites



Field service



Propulsion and Engines



Vision
-
based navigation



Miniaturization

IEEE, RAS, Technical Committee on Aerial Robotics

Kimon Valavanis (DU),

Robert Wood (Harvard), Samir Bouabdallah (ETHZ)

Website:
http://www.flyingrobots.org/

Agricultural Robotics

AgGuide 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:

Jason Stone
stonej@usq.edu.au

(National Centre for Engineering in Agriculture)



Professor John Billingsley
billings@usq.edu.au

(University of Southern Queensland)

Website:


http://www.usq.edu.au/users/billings/ieee/

Algorithms for Planning and Control of Robot Motion

Contact Co
-
Chairs to Join:

Oliver Brock (oli@cs.umass.edu)

Tsutomu Hasegawa (hasegawa@irvs.is.kyushu
-
u
-
ac.jp);



Steve LaValle (lavalle@uiuc.edu)

Thierry Simeon (nic@laas.fr)

Funding:

SToMP
: $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

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, …

Integration of Planning and Control:

Planning based on local feedback control
policies (Connor, Choset, Rizzi, CMU);
others results at UIUC, UMass Amherst,


Real
-
World Implementation:

Motion planning algorithms are being

implemented on real
-
world humanoid
robots at U Tokyo, AIST, CMU, …

Contact email to join:



TC_contact@takanishi.mech.waseda.ac.jp

Recent Advances:

TC Co
-
Chairs:

Atsuo Takanishi, Waseda University

Blake Hannaford, University of Washington

Bio Robotics

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
.

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
-
of
-
freedom

movable

torso

and

a

visual

system

to

form

a

complete

humanoid

upper

body
.

G
.


Hirzinger,

et

al
.
,



“A

humanoid

upper

body

system

for

two
-
handed

manipulation,”

Proc
.

ICRA

2007
,

p
.

2766
-
2767

Computer and Robot Vision

T
o
j
oin

contact
:

Danica Kragic

(
dani
@
kth.se
)

Vision Based Simultaneous
Localization and Mapping

Attention points

2D Attributes

3D Attributes

3D Segmentation

2D/3D Attributes

Grouping

Objects

Things

Active humanoid
head (University of
Karlsruhe)

Real
-
time, stereo
based vision
systems for scene
modeling,
segmentation,
object and activity
recognition

Object modeling
for grasp
planning and
execution

New!: Energy, Environment, and Safety Issues

in Robotics and Automation

Contact Co
-
Chairs to Join:


Tarn, Tzyh Jong

Fukuda, Toshio

Merlet, Jean
-
Pierre

De Almeida, Anibal

Haptics

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

Recent developments

Recent activities


The TCH Early Career Award has been
launched and the first awardee is Allison
Okamura (Johns Hopkins Univ.)


The TCH student exchange program
supported two interdisciplinary research
visits in 2008 and 2009


A new position of Vice Chair for Education
has been created to focus on teaching &
learning about haptics


Opportunities supported by TCH


International conferences on haptics


WorldHaptics (every two years in Europe,
Asia, and North America)


Haptics Symposium and EuroHaptics (every
other year in the USA and Europe)


IEEE Transactions on Haptics has been
launched in fall 2008

http://www.computer.org/toh


Special session on neuroscience was
organized at WorldHaptics 2009


WorldHaptics 2009 TCH Best Student
Paper Award went to In Lee (POSTECH)
for


System Improvements in Mobile
Haptic Interface”


“Augmentation of a low
-
cost haptic device
to
display realistic contact accelerations by
a dedicated vibration actuator” (McMahan
& Kuchenbecker, Univ. of Pennsylvania)

The system was exhibited at WorldHaptics 2009

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.


TC email list:
tchric@hri.iit.tsukuba.ac.jp

Robonaut (teleop)
-
astronaut
teams at NASA JSC

DB learning by demonstration to
play air
-
hockey at ATR

Leonardo sharing attention during
collaborative tasks at MIT Media Lab

Recent Activities


2008 IEEE
-
RAS International Conference on Humanoid Robots


Organized by
Jun Ho Oh (KAIST, KOREA)


Dec. 1
-
3, Daejeon, Korea


6 Workshops and Tutorials


103 Presentation (150 submitted)


178 Attendees


Steering Committee Meeting of the TC on Humanoids


(at Humanoids2008)


Humanoids Steering/Advisory Committee (TC) Members Structure


Conference Policy


Report of Humanoids Conference 2007


Future Humanoids Conference (2009, 2010, ...)


R&D Collaboration

Future Perspectives


Humanoids 2009


Dec. 7
-
10


Paris 6 Universit, École de Médecine and Collège de France, Paris, France


General Chair: Jean
-
Paul Laumond

Humanoid Robotics

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.

Some examples of recent technical developments

in robotics technologies applied to ITS

for quality of life, efficiency, mobility, safety, challenge.

Co
-
chairs:


Christian Laugier; Urbano Nunes; Alberto Broggi

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 and 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).

Join RAS TC on ITS:

Contact: Urbano Nunes, urbano@isr.uc.pt


2005/06

Contact Co
-
Chairs to Join

(see TC website
http://rastc
-
mnra.in2p3.fr

)

Fumihito Arai


arai@imech.mech.tohoku.ac.jp

Nicolas Chaillet


nicolas.chaillet@femto
-
st.fr

Ari Requicha



requicha@usc.edu

Scale
-
appropriate locomotion models for millimeter
-
scale mobile robots.

Reference: S. Bergbreiter, "Effective and Efficient Locomotion for Millimeter
-
Sized Microrobots“,
IROS 2008
, Nice, France, 2008.


Artificial Bacterial Flagella (ABF) have comparable geometries and dimensions to their organic counterparts
and can swim in controllable fashion using weak applied magnetic field.

Reference: L. Zhang, J. J. Abbott, L. X. Dong, B. E. Kratochvil, D. J. Bell, B. J. Nelson, "Artificial Bacterial Flagella: Fa
bri
cation
and Magnetic Control",
Applied Physics Letters
, Vol. 94, No. 6, February 2009.


Wireless resonant magnetic microactuator for untethered mobile microrobots.

Reference: K. Vollmers, D. R. Frutiger, B. E. Kratochvil, B. J. Nelson, "Wireless resonant magnetic microactuator for
untethered mobile microrobots",
Applied Physics Letters
, Vol. 92, No. 14, 2008.

Micro / Nano Robotics and Automation TC

-

Recent advances
-

Manipulation of salmon testes DNA
, cut in an automated way (green arrows) using the AFM
. In order to
present an alternative to the currently used self assembling technologies, a nanorobotic system for the direct
and automated manipulation of DNA was implemented.

Reference:
M. Weigel
-
Jech, S. Fatikow, "Development of a novel nanorobotic system for the characterization and manipulation of
biomaterials",
The Fifth International Conference on Microtechnologies in Medicine and Biology
. Québec City, Canada. April 1
-
3,
2009.

In order to achieve high
-
efficiency nanomanipulation,
a parallel imaging/manipulation microscope
, which
consists of two individually actuated microcantilevers that can fulfill image scan and manipulation in parallel,
was presented.

Reference:

H. Xie, S. Haliyo, S. Régnier, “Parallel imaging/manipulation force microscopy”,
Applied Physics Letters
, 94, 153106,
2009.

Networked Robots

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>

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.

.

Main

activities

from

May

2008

to

Sept

2009
:



Invited session for ICRA 2010 (21 papers submitted)


Special Issue of RAM (March 2010)


Workshop at ICRA 2009 (>30 participants)


Mailing list


Web site


MARINE ROBOTICS

Co

Chairs:

Gianluca Antonelli

Hayato Kondo

Giacomo Marani

Junku Yuh

Fumin Zhang

Performance Evaluation and Benchmarking

of Robotic and Automation Systems

Recent Activities


Springer Book “Performance Evaluation and Benchmarking of Intelligent Systems”
(Sept. 2009)


Performance Metrics for Intelligent Systems (PerMIS) Workshop at NIST, Sept. 21
-
23, 2009


IROS Workshop on Performance Evaluation: Nice (Sept. 2008) & St. Louis (Oct. 15
th

2009)


Autonomous Robots Special Issue “Characterizing Mobile Robot Localization and
Mapping” (Vol. 27 No. 4 Nov. 2009)


Future Activities


Discuss with other TC Chairs/Members on their performance evaluation issues


Kick
-
off WS to bring together community to identify areas of focus to define TC
activities (First quarter of 2010)


Interoperability and Performance Standards:
http://collaborate.nist.gov/twiki
-
robotstds/



Robot Competitions: VMAC & Mobile Microrobotics Challenge (ICRA’10)

Raj Madhavan

raj.madhavan@nist.gov

Angel del Pobil

pobil@icc.uji.es


Elena Messina

elena.messina@nist.gov

Members: 90

Fostering Objective and Quantitative Evaluation

Rehabilitation & Assistive Robotics

CO
-
CHAIRS:

Michelle J. Johnson Eugenio Guglielmelli


Takahori Shibata


Marquette University, USA Università Campus Bio
-
Medico, Italy

AIST, Japan

(From RAS Area 1: Americas) (From RAS Area 2: Europe, Middle Est & Africa)


(From RAS Area 3: As
ia & Oceania)

To join the TC and receive most updated information in the field just e
-
mail:
RehabRob@ieee.org

To know more about these news access our website through the TAB link from the RAS Homepage

A sensorized rattle toy equipped
with multiple inertial, magnetic and
tactile sensors for behavioral
analysis of infants in ecological
settings

EMERGING TREND
: REHAB & ASSISTIVE ROB FOCUS ON NEURODEVELOPMENT


EXOSKELETON

FOR LOWER LIMB MOTOR THERAPY

ROBOTIC TOYS FOR TREATMENT OF
AUTISTIC CHILDREN

MECHATRONIC TOYS AND WEARABLE DEVICES FOR
EARLY DIAGNOSIS OF NEURODEVELOPMENTAL
DISORDERS

The Pediatric Lokomat
(Hocoma Ltd) for intensive
locomotion therapy of
children with neurological
disorders

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

Gianmarco Veruggio <gianmarco@veruggio.it> (Corresp. Co
-
chair)

Ronald C. Arkin <arkin@cc.gatech.edu> (Co
-
chair)

Atsuo Takanishi <takanisi@waseda.jp> (Co
-
chair)

Roboethics



It is the human
-
centered ethics guiding the design,
construction and use of the robots.

info@roboethics.org http://www.roboethics.org/ieee_ras_tc/

MEMBER

COUNTER

80

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

Robo
é
thique


@ JNRR07
-

Journ
é
es 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


@ ECAP07
-

European
Computing and Philosophy Conference. June 23, 2007
-

University of
Twente, Enschede, The Netherlands. Chair G.Veruggio.

Safety, Security and Rescue Robotics

Contact Co
-
Chairs to Join:

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



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 28
-
31, 2008


Tohoku University,
Sendai, Japan

General Chair: Satoshi Tadokoro

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.

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, ....

New Research Installations:


$2M 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.

Semiconductor Manufacturing Automation

Service Robots

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

Recent Advances/inventions:

Humanoid sales representative, Advanced
Telecommunications Research Institute,
Japan, January 2008.

Tankpitstop, Winding Road,
2/5/08.

Conference Activities in 2009


ICRA 2009, Kobe, Japan


Workshop on Software Development and Integration in Robotics (SDIR
-
IV)


Workshop on Open Source Software in Robotics


ICAR 2009, Munich, Germany


Workshop on Rapid Application Development in Robotics: On the role of re
-
use and adaptation of system components, middleware, and control
architectures


IROS 2009, St. Louis, MO, USA


Workshop on Event
-
Based Systems for Robotics


Tutorial on Introduction to RT
-
Middleware (OpenRTM
-
aist)

Publication Activities in 2009


IEEE Robotics and Automation Magazine


Special Issue on Software Engineering for Robotics, 03/2009


Tutorial on Component Based Robotic Engineering, 12/2009


Launch of the
Journal on Software Engineering for Robotics
(JOSER), 06/2009



Members


Chair: Prof.
Davide Brugali


2 Co
-
Chairs


plus 34 regular
members

Mission statement: Advancement of foundations for robotics
software and systems engineering

For more
Information on
JOSER, please check
http://www.joser.org


Space Robotics

Contact Co
-
Chairs to Join:

Rick Wagner (Rick.Wagner@NGC.com)

Dimi Apostolopoulos (da1v@cs.cmu.edu)

Hobson Lane (Hobson.Lane@NGC.com)

Richard Volpe (volpe@jpl.nasa.gov)

Planetary Robotics:

Mars rovers (JPL, ESA, LAAS
-
CNRS, 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) …

Space Robotics TC Web site:


was expanded and maintained
http://teamster.usc.edu/~fixture/Robotics/SpaceRoboticsTC/SpaceRoboticsTC.html



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 ‘08RAS TAB meeting…

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

MRI Compatible Robotic Radiofrequency

Ablation with Haptic Feedback

Rebecca Kokes, Kevin Lister, Rao Gullapalli,

Bao Zhang, Howard Richard, Jaydev P. Desai

In
-
Vivo Pan/Tilt Endoscope with Integrated
Light Source


Tie Hu, Peter K. Allen, Dennis L .Fowler



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),…

Teleoperation of mobile robots:

Mobile haptic interface and mobile teleoperator

Technische Univ. München, Univ. di Roma, Univ.
Politecnica de Madrid

Master

Side

Slave

Side

Comm.

Channel

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), …

Workshops:

ICRA 2008: New Vistas and
Challenges in 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


RAS TAB Agenda, F09 Meeting



GOLD events: evaluation and recommendations


Review of DL activities & Next DL Nominations


Review of TCs


Triennial Review of TCs in 2010


RAS Research Milestones, Wiki


RAS Technical Communities


Summary of TAB Accomplishments


Open Discussion


Adjourn.




TComm’s = mutually beneficial autonomous “sub
-
societies,” RAS/
10


Significant delegation of responsibility and
authority


Next Steps


Drill deeper to ensure success, e.g.,


Further delineation of roles, responsibilities, and
authority


Financial processes including budgeting and reporting


Intersections with the RAS constitution and by laws


Technical Communities

TAB Summary : 2006
-
2009

TAB Summary


Column for RAS Magazine:


TCs as AMPLIFIERS, not capacitors...


Establish new positions: Associate VPs


TAB Charter


Duties of VPTA, TC Co
-
Chairs, DLs...


Explicit Procedure for Proposing new TCs


Explicit Procedure for Inviting DLs


TAB Database


Unified point of contact, Scope, member
count, Technical Summaries


TAB Summary


New TC Co
-
Chairs, Retired Co
-
Chairs


TC's retired: Telerobotics, Prototyping,
Underwater, Mfg Automation


TC's created: Telerobotics, Haptics,
Space Robotics, Motion Planning, Robot
Learning, Marine Robotics, Energy and
Environment, Performance Evaluation
and Benchmarking


TC Triennial Review Process


TAB Summary


Expanded DL program from
15
to
24


Nine in under
-
represented areas


Appointed new DLs


Initiated "Public Lectures" for DLs


Created Most Active DL Award


Most Active DL and Most Active TC
Awards approved by IEEE


TAB Summary


Support for IEEE Society Review


Support for Conference Editorial Board


Support for T
-
ASE Review


Story on Automation in the IEEE Institute


Interview on Automation on CBS Radio


Panel on Future of Robot OS


IEEE Spectrum, NPR Radio


TAB Summary


Young Professionals Lunch



Renamed GOLD Lunch


Expanded to IROS, CASE


New RAS Field of Interest Statement


New 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 semi
-
autonomously 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.

RAS TAB Agenda, F
09
Meeting



GOLD events: evaluation and recommendations


Review of DL activities & Next DL Nominations


Review of TCs


Triennial Review of TCs in
2010


RAS Research Milestones, Wiki


RAS Technical Communities


Summary of TAB Accomplishments


Open Discussion


Adjourn.



A hearty welcome to John Hollerbach!

Thank You. It has been an honor.

Handbooks for Robotics, for Automation

Haptics

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

International conferences on haptics

Haptic Science

Haptic Technology

Haptic Application

Haptic device by Distributed Macro
-
Mini actuation
(Univ. of Wisconsin
-
Madison and Stanford Univ.)
and tactile pattern display using Piezoelectric
Bending Element (Northwestern Univ.)

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.)

Graphics display by lateral
skin deformation (McGill
Univ.)

worldHaptics (every two years in Europe, Asia, and North America)

Haptic Symposium and EuroHaptics (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.