Download - Cybernet Systems Corporation

builderanthologyAI and Robotics

Oct 19, 2013 (3 years and 9 months ago)

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www.cybernet.com

1

Overview of Cybernet Systems Corporation

Robotics

Cybernet Systems Corporation

727 Airport Blvd

Ann Arbor, Michigan 48108

www.cybernet.com



Joseph Tesar



jt@cybernet.com


Charles Jacobus, Ph.D.


chuck@cybernet.com

www.cybernet.com

Cybernet



2


Founded in 1988


Special Status: Woman
-
owned


Over 200 contracts completed


largest SBIR winner in the
Midwest


16 Patents, ~20 patents pending


Specialization: Robotics, Sensors, Software


Commercialization and R&D

Cybernet Biography

www.cybernet.com

Cybernet



3

Cybernet’s Mission



Our mission is to apply Cybernet
-
developed
technology to the human machine interface.
Areas include:



Distributed Simulations



Robotics and Computer Vision



Human Interface Systems


Wired and Wireless Network Appliances





www.cybernet.com

Cybernet



4

Technology Areas


Distributed Simulations


Scalable Massive MultiNode Simulator (OpenSkies)


Simulation engines (3D, terrain, sound, scenario)


Robotics and Computer Vision


Autonomous actions using vision inputs


Human Interface Systems


Non traditional methods for interfacing machines to humans, using
gestures
, eyetracking and voice commands


Distributed medical data collection and data distribution

www.cybernet.com

Cybernet



5

Robotics R&D Track Record

Current and past sponsors:


NASA:


Force Feedback (haptic joysticks),


Computer Vision for 3D Object Localization


Semi
-
Autonomous Robotic Command Creation


DoD (Army, DARPA, OSD, Navy, AF):


Novel Robotic Platforms


omnidirectional, walkers, etc


Gesture Recognition


Hands Free Control of Computers


OCUs (Demo II, Wearable OCU for Man Portable Systems


FCS)


Telemaintenance of Robotic Platforms (FCS)


Distributed Simulation


Future Combat Systems (Boeing)


www.cybernet.com

Cybernet



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Cybernet Firsts

1989: (NASA)

First general purpose FF Joystick

1992: (ARL)

First portable robotics OCU

1994: (DARPA/TACOM)

First Linux used in Demo II OCU

1994: (JPO)

HMMWV Robotics retrofit kit

1996: (CECOM)

Laptop touch
-
controlled OCU for field digital photo intel


(USAF)

Computer vision augmented GPS navigation prototype


(NIH, NASA, DARPA)

First Internet Medical Appliance

1997: (Mich)

Walking/Rolling robot prototype
--

experimental design for long endurance, flexible obstacle breaching,
fast traversal of flat terrain

1998: (Navy)

Small omnidirectional platform prototype
--

experimental design for agility and speed


(Ford Motor Co)
6DOF articulated linkage (pantograph) with end effector

1998: (STRICOM) Locomotion Platform, Virtual Test Range

1999/00: (TACOM)

Semi
-
Autonomous Rendezvous and Docking for Robots


(Commercial)

NetMAX Linux
-
based Servers (Secure, Connect, Share)

2000:(JPO)

Wearable OCU;
(ARL)

Hands Free Interface;
(Army)

Low cost augmented GPS

2001:

MedStar Medical Data Collection,
(Army)

Automated Parachute Deployment


(STRICOM) Gesture Dismounted Soldier Simulation Control

2002: (Army)

Telemaintenance for Robotic Vehicles;
(Army)

“Instant” Communications


Network,
OpenSkies Massive Multiplayer Game Network Engine

www.cybernet.com

Cybernet



7

Commercial Success
-

Force Feedback Devices


Beginning: NASA sponsored work
(1989
-
92)


Resulted in 10 Patents from 1992 to present


Business goal: Create a large sales
volume robotic product


Result: Force Feedback Joystick for PCs


Spun
-
off to Immersion Corporation, San Jose
CA (Nasdaq: IMMR) in 1998


Licensees:


Logitech, Microsoft, Sony, CH Products


Cybernet and Immersion collaborate on
Haptics development projects.

PerForce (1992)

Logitech (2000)

www.cybernet.com

Cybernet



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Commercial Success
-

Network Appliances


DARPA : Demo II Portable OCU (1994
-
1996): PC parts & Linux


Result: One Patent, Software, and Web
GUI Intellectual Property


Business Goal:



Create Linux
-
based O/S Products


Result: Netmax Internet
Appliance Software


Server, Firewall, FileServer


See www.netmax.com

Demo II Portable OCU

& Radio Set

NetMAX Linux Internet

Appliance Software Family

www.cybernet.com

Cybernet



9

Commercial Success
-

Medical Internet Appliances


NASA, DARPA, NIH funded Internet
Physiological Monitor (1994
-
1998)


Three patents covering medical
instruments directly connected to the
Internet


Business Proposition:


Automate out
-
patient monitoring
Sell/License technology


GE, Agilent, CyberCare, Guidant

802.11 Compatible

Multiparameter Monitor

CDPD/PCS EKG Monitor

(Holter and Cardiac Event)

MedStar Data Collection Unit

www.cybernet.com

Cybernet



10

Commercial Success
-

Gesture Recognition


Gesture Technology


Use human motion as machine inputs
(eye motion, hand motion, etc.)
-

6
patents pending


Commercial Software for computer
games (see www.useyourheadsw.com)


6 patents pending


Webcam based Eyetracker Cursor
Control


Kiosk API product at Smithsonian


Army (STRICOM) hand gesture
recognition system

Eyemotion controls cursor


blink
detection

represents
“click”

www.cybernet.com

Cybernet



11

Commercial Success
-

Distributed Simulation


Distributed Simulation Products


OpenSkies
scaled
-
up HLA for commercial game pay
-
for
-
play, messaging, routing (patented)


Engines for 3D, terrain, sound, chat, AI, scenarios, physics


Now Licensing to Game Developers for Massively
Multiplayer PC Games (MMPG)


see //www.openskies.net for downloads and tutorials


www.cybernet.com

Cybernet



12

Platform Technology

Standard

Robotics/ Nav

Retrofit Kits

www.cybernet.com

Cybernet



13

Field Portable OCU (Wireless HMI)

1994: DARPA/TACOM

2002: “Wearable”
OCU with
software interface

www.cybernet.com

Cybernet



14

Field Portable OCU (with Wireless Networking)

1992: ARL

1994: DARPA/TACOM

1996: CECOM

1998: Ameritech

www.cybernet.com

Cybernet



15

Networked Human
-
Robot Interface


System Architecture


Based on LAN technology


Client/Server


Wireless protocols


“Instant” Network


Network self
-
forming


Mobile routing as robots
move in the field



www.cybernet.com

Cybernet



16

Vision Based Robotic Sensors


3D object localization


Find “Pose” of the target (position and rotation of the target)
in the field of view


Matches a known polymodel to an image from camera

Image from Camera

Polymodel Match


www.cybernet.com

Cybernet



17

Novel Robotic Platforms

Omnidirectional Platform

CyberStryder (Virtual Environment)

Walking Robot

6DOF Linkage

www.cybernet.com

Cybernet



18

3
-
axis
Magnetometer

GPS

Differential

Odometers

Motion Tracking Products

Automatic

Parachute

Deployment

Augmented

GPS

Motion and
Gesture
Tracking

www.cybernet.com

Cybernet



19

Video Based Optical Tracking


Optical Tracking Based On:


Motion


Color


Shape

Target RGB Reference
Color

Matching Color Space


RGB reference and
Intensity volume

www.cybernet.com

Cybernet



20

Optical Tracking


Video Based


Example


UseYourHead


Headtracker



Matches



Object Shape



Object Color


Simple USB Webcam


Headmotion is a
mouse input


Hands remain free to
perform other inputs

www.cybernet.com

Cybernet



21

NaviGaze


Headmouse for Disabled



Move mouse with any
selected head feature


eye pupil


nostril


bridge of glasses



Click mouse by


closing eyes


flaring nose


WebCam video input

www.cybernet.com

Cybernet



22


Localize objects in 3D space


Up to 30 tags


Up to 900 Hz update rate

Active Eyetracking & Headtracking

Tags on helmet
track head
motion

Eyetracker
integrated into
HMD for Gaze
Location

www.cybernet.com

Cybernet



23

Eyetracking & Headtracking


Fuse inputs from
ET & HT to
control virtual
scene


Headtracker (upper
left) establishes frame
of reference

Eyetracker
defines Gaze
direction

www.cybernet.com

Cybernet



24

Active Tracking of Human Motion


Attach tags to body part to generate a digital file of
complex motions

Raw Video

Raw Tracking Data

www.cybernet.com

Cybernet



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Raw video can be converted into a synthetic, rendered scene

Active Tracking of Human Motion

Raw Video

Final Rendered Scene

www.cybernet.com

Cybernet



26

Staff Qualifications



PhD in Computer Science, EE, HCI



MSEE/CS/ME



Robotics/EE/CS/ME/HCI tech. Staff



Business Development


CAD/CAM for Mech. and EE.


Rapid Prototyping Facility


Expertise in electronics, digital, RF, software development,
networks, robotics, security, web methods and e
-
commerce