Annual Report 2002 - Ãrebro universitet

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Annual Report 2002 37 - Licentiate thesis in May 2003 by Amy Loutfi on Communicating perceptions by grounding language in artificial sensor systems. Project: Design and development of an artificial sensory head Project leader: T. Selim Eskiizmirliler (PhD) Project staff: Linn Robertsson (PhD student) Lena Biel (PhD student) 3 Xjobbers: Elisabeth Wikström & Mikael Sivebratt, Jorgen Widmark Anani Ananiev (PhD) Prof. Peter Wide. Funding: KK-Foundation, Bofors Defence AB Cooperation : SIK, Intelligent Control Lab. Synopsis: The objective of this project is to build an artificial sensory head equipped with sensors dedicated to five primary human like senses and which is to be used as a quality testing and assessment device in the food industry. However the whole system must also be considered as a common application platform for any sensory and/or data fusion based research activities. Our main goals are twofold: to make this second version (2G) of the electronic head more suitable for industrial applications; and to bring its processing abilities closer to its biological counterpart w.r.t. sensation and perception . In this way, we have first equipped the new robust electro-mechanical structure, designed in collaboration with the Intelligent Control Lab, with the new e-tongue and e-nose. All processes including the control schemes, measuring, feature extraction and perception phases are being incorporated to be driven by a common graphical user interface. Moreover, two new Sensory Information Fusion methods (SeFMAP and hybrid ANN based sensory information fusion) will be applied and the results will be compared with already existing conventional and biologically inspired ones. Furthermore, the sensing and clustering/classification results will also be associated with facial expressions by means of 3D facial animation software from Cambridge Research Laboratory. We are also planning to replace the existing wire-type muscle models used by the animation software with the biologically plausible ones for the aim of transforming the system to a simulator suitable for biologically inspired sensori-motoric control studies of facial movements. A project that aims to automate the testing procedure for the mixture of chocolate and wrapping paper tastes is done in collaboration with the AssiDomän Corporate R&D, Frövi and is considered to be a first industrial application of the new 2G version. Results in 2002: - Two conference papers - Licentiate thesis byLena Biel on Modeling of Perceptual Systems – A sensor fusion model with active perception Future developments: - 1 Marie Curie Fellow, Iasen Hristozov will work on wavelet based feature extraction and Sensory Information Fusion - Association of facial expressions to the artificial sensory head assessment. - First industrial application in collaboration with the AssiDomän Corporate R&D, Frövi. - Two conference papers - One journal paper
38 AASS – Center for Applied Autonomous Sensor Systems Project: Design and development of an artificial hand Project leader: T. Selim Eskiizmirliler (PhD) Project staff: Linn Robertsson (PhD student) Funding: KK + Faculty Cooperation: Elumotion-England, ENST-Paris, INSERM 483–Paris 6, Bath University- England, NASA-JPL, and Umeå University-Sweden. Synopsis: The project belongs mainly to the Biologically Inspired Sensori-Motoric Information Fusion research area. The objective is to build a 5 fingers anthropomorphic left hand with 15 joints (5DIP+5PIP+5MCP) actuated by electrically active polymer (EAP) muscles and equipped with force (tactile) and joint angle sensors (i.e. somatosensory and proprioceptive sensors). Our main objective is to implement and demonstrate principles of a totally neurobiologically inspired, adaptive and intelligent sensori-motoric control schemes for visually guided reach and grasp. These will incorporate biological constraints in terms of architecture and behavior as defined by available experimental neurobiological data on the cellular, cell-population and psycophysical level. The work will be based on the interaction of four fundamental elements of movement control: 1) Task related anticipatory information concerning goal selection (Motion planning), 2) Visual information, 3) Proprioceptive and somatosensory information, and 4) Execution related information. The hand is being designed to be used by the already existing 6 degrees of freedom light weight robot arm of Intelligent Control Lab and, a new robot forearm actuated by 2 McKibben (designed by Shadow Co.) muscles. A study of the coordinated left-right hand motion control in collaboration with the JPL lab of NASA is also envisaged. Results in 2002: - Three journal papers - Contract with Elumotion for manufacturing and instrumenting a five fingers anthropomorphic hand. Future developments: - 1 Marie Curie Fellow, Olivier Manette, Neurobiologically inspired control of dexterous manipulation - One conference paper - One journal article submission. - Application for a research grant to the Vetenskapsrådet based on an international collaboration between 5 research institutions. - Application for a research grant to the Human Frontier Science Program in an international collaboration with 5 research institutions. - Probable involvement in an EU/FP6 project.
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