The situated vision : a concept to facilitate the autonomy of the systems

This paper is about vision to make systems more autonomous. We parallel two aspects of the current evolution of System-Perception: more ambitious yet coherent tasks tightly rely on more abstract description and control. As vision is likely to be a major and complex sensory modality for machines as it is for most animals, we concentrate our development on it. In the first part we show how thinking to systems helped to better pose vision problems and solve them in a useful manner. That is the “active vision” trend that we explain and illustrate. Along the same line, the necessity for anticipation shows further, leading to a first definition of “situated vision”. The second part deals with how to design systems able to achieve such vision. We show from a few examples how architectural descriptions evolve and better fit important features to grasp – a model – in view of more efficient control towards intelligence. Inner communication flows are better be controlled than local tasks that should be assumed completed efficiently enough in all cases. We conclude with a plausible sketch of a system to be experimented on in situations that require some autonomy.Cet article présente notre approche des techniques par lesquelles la vision doit contribuer à l’autonomie d’un système. Il établit un parallèle entre deux aspects de l’évolution des systèmes de perception. La première partie explique comment une conception système des problèmes de la vision (dénommée vision active) aide à les résoudre efficacement. Il y apparaît la nécessité d’anticiper, conduisant à une première définition de la vision située et cataloguant un ensemble des situations qui constitue la description fonctionnelle de l’exo-système. La seconde partie montre comment les descriptions architecturales des systèmes de fusion s’adaptent aux caractéristiques à extraire, et donc comment un modèle émerge progressivement au service d’un contrôle opportuniste vers plus d’intelligence (au sens capacité à utiliser conjointement des renseignements issus de diverses modalités). Nous pensons que l’essentiel des développements à court et moyen terme proviendra des avancées autour de cette approche duale et du concept de «systèmes autonomes», dans lesquels les flots internes de communication apparaissent alors plus utiles à contrôler que les tâches locales, supposées accomplies de manière satisfaisante. Un schéma de système de contrôle de flux est enfin proposé pour mettre en oeuvre au plus haut niveau du modèle un contrôleur de commutations entre différentes situations. Viser des tâches plus ambitieuses s’appuie sur des descriptions et un contrôle plus abstraits

Biokinematic analysis of human body

Thesis (Doctoral)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2011Includes bibliographical references (leaves: 118-123)Text in English; Abstract: Turkish and Englishxiii, 123 leavesThis thesis concentrates on the development of rigid body geometries by using method of intersections, where simple geometric shapes representing revolute (R) and prismatic (P) joint motions are intersected by means of desired space or subspace requirements to create specific rigid body geometries in predefined octahedral fixed frame. Using the methodical approach, space and subspace motions are clearly visualized by the help of resulting geometrical entities that have physical constraints with respect to the fixed working volume. Also, this work focuses on one of the main areas of the fundamental mechanism and machine science, which is the structural synthesis of robot manipulators by inserting recurrent screws into the theory. After the transformation unit screw equations are presented, physical representations and kinematic representations of kinematic pairs with recurrent screws are given and the new universal mobility formulations for mechanisms and manipulators are introduced. Moreover the study deals with the synthesis of mechanisms by using quaternion and dual quaternion algebra to derive the objective function. Three different methods as interpolation approximation, least squares approximation and Chebyshev approximation is introduced in the function generation synthesis procedures of spherical four bar mechanism in six precision points. Separate examples are given for each section and the results are tabulated. Comparisons between the methods are also given. As an application part of the thesis, the most important elements of the human body and skeletal system is investigated by means of their kinematic structures and degrees of freedom. At the end of each section, an example is given as a mechanism or manipulator that can represent the behavior of the related element in the human body

Minimally Invasive Expeditionary Surgical Care Using Human-Inspired Robots

This technical report serves as an updated collection of subject matter experts on surgical care using human-inspired robotics for human exploration. It is a summary of the Blue Sky Meeting, organized by the Florida Institute for Human and Machine Cognition (IHMC), Pensacola, Florida, and held on October 2-3, 2018. It contains an executive summary, the final report, all of the presentation materials, and an updated reference list