D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification 9.1 EVALUATION METHODOLOGY, BENCHMARKING, METRICS, PROCEDURES AND ETHICAL ASSURANCE (TASK 9.1, UR) ............... 94 9.2 TRAINING ON CORBYS SYSTEM (TASK 9.2, IRSZR) ................................................................................................. 96 9.3 CONTINUOUS ASSESSMENT OF THE TECHNOLOGY UNDER THE DEVELOPMENT (TASK 9.3, IRSZR) ....................................... 97 9.4 EVALUATION OF THE RESEARCHED METHODS ON THE SECOND DEMONSTRATOR (TASK 9.4, UB) ........................................ 98 9.5 EVALUATION AND FEEDBACK TO DEVELOPMENT (TASK 9.5, NRZ) ................................................................................ 99 10 STATE‐OF‐THE‐ART IN SENSORS AND PERCEPTION (SINTEF) ....................................................................... 101 10.1 INTRODUCTION TO SENSORS AND PERCEPTION ....................................................................................................... 101 10.2 SENSOR PRINCIPLES FOR PERCEPTION IN HUMAN‐ROBOT INTERACTION ........................................................................ 101 10.3 INTERPRETATION OF MULTIPLE SENSOR SIGNALS ..................................................................................................... 109 10.4 SUMMARY ON TECHNOLOGY GAPS AND PRIORITIES FOR DEVELOPMENT IN CORBYS ...................................................... 111 11 STATE‐OF‐THE‐ART IN SITUATION ASSESSMENT (UR) ................................................................................. 112 11.1 INTRODUCTION ................................................................................................................................................ 112 11.2 SITUATION ASSESSMENT .................................................................................................................................... 113 11.3 RELEVANT APPROACHES .................................................................................................................................... 116 11.4 SUMMARY ON TECHNOLOGY GAPS AND PRIORITIES FOR DEVELOPMENT IN CORBYS ...................................................... 120 12 STATE‐OF‐THE‐ART IN BEHAVIOUR GENERATION, ANTICIPATION AND INITIATION (UH) ............................. 120 12.1 INTRODUCTORY COMMENTS .............................................................................................................................. 120 12.2 INFORMATION‐THEORETIC PRINCIPLES ................................................................................................................. 122 12.3 SELF‐ORGANISED BEHAVIOUR AND GOAL GENERATION ........................................................................................... 125 12.4 BEHAVIOUR ANTICIPATION, GENERATION AND INITIATION ....................................................................................... 128 12.5 TECHNOLOGICAL GAPS ...................................................................................................................................... 130 13 STATE‐OF‐THE‐ART IN ARCHITECTURES FOR COGNITIVE ROBOT CONTROL (UB) .......................................... 131 13.1 ARCHITECTURES FOR COGNITIVE CONTROL OF ROBOTIC SYSTEMS ............................................................................... 132 13.2 COGNITIVE ARCHITECTURES USED FOR CONTROLLING DIFFERENT ROBOTIC SYSTEMS ....................................................... 135 13.3 CORBYS ENABLING POTENTIAL AND CONSTRAINTS (CURRENT GAPS/SHORTCOMINGS) ................................................... 143 14 STATE‐OF‐THE‐ART IN SMART INTEGRATED ACTUATORS (SCHUNK) ........................................................... 143 14.1 INTRODUCTION TO SMART INTEGRATED ACTUATORS ............................................................................................... 143 14.2 BASIC ACTUATOR TECHNOLOGIES ........................................................................................................................ 143 14.3 CONTROL TECHNIQUES, INTERFACING, STANDARDISED DRIVE MODULES ...................................................................... 145 14.4 CORBYS ENABLING POTENTIAL AND CONSTRAINTS (CURRENT GAPS/SHORTCOMINGS) ................................................... 146 14.5 TECHNOLOGY INNOVATION REQUIREMENTS GAPS FILTER ELEMENTS ........................................................................... 146 15 STATE‐OF‐THE‐ART IN NON‐INVASIVE BRAIN COMPUTER INTERFACE (BBT) ................................................ 147 15.1 INVASIVE VS. NON‐INVASIVE BCI TECHNOLOGY AND ROBOTICS ................................................................................ 147 15.2 HARDWARE FOR NON‐INVASIVE BRAIN‐COMPUTER INTERFACES ............................................................................... 149 15.3 SOFTWARE FOR NON‐INVASIVE BRAIN‐COMPUTER INTERFACES ................................................................................ 152 15.4 THE ROLE OF EEG ARTEFACTS IN NON‐INVASIVE BCIS ............................................................................................ 155 15.5 DECODING THE COGNITIVE PROCESS REQUIRED IN CORBYS .................................................................................... 157 16 STATE‐OF‐THE‐ART IN GAIT REHABILITATION SYSTEMS (VUB) .................................................................... 163 16.1 GAIT REHABILITATION ....................................................................................................................................... 163 16.2 GAIT REHABILITATION ROBOTS ............................................................................................................................ 165 16.3 ROBOT CONTROL STRATEGIES FOR GAIT ASSISTANCE ................................................................................................ 170 17 STATE‐OF‐THE‐ART IN ROBOTIC SYSTEMS FOR EXAMINING HAZARDOUS ENVIRONMENTS ......................... 174 VI
D2.1 Requirements and Specification 17.1 ROBOTIC SYSTEM FOR AUTOMATED SAMPLING ....................................................................................................... 175 17.2 INTELLIGENT AUTOMATED INVESTIGATION OF A HAZARDOUS ENVIRONMENT ................................................................ 176 18 CONCLUSION ............................................................................................................................................. 177 19 REFERENCES .............................................................................................................................................. 178 VII
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D2.1 Requirements and Specification - CORBYS

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