Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments-A Case Study.

Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.

Can robots assemble an IKEA chair?

The limits of robotic manipulation were explored by automatic assembly of an IKEA chair.

The Silhouette Zoetrope: A New Blend of Motion, Mirroring, Depth, and Size Illusions.

Here, we report a novel combination of visual illusions in one stimulus device, a contemporary innovation of the traditional zoetrope, called Silhouette Zoetrope. In this new device, an animation of moving silhouettes is created by sequential cutouts placed outside a rotating empty cylinder, with slits illuminating the cutouts successively from the back. This "inside-out" zoetrope incurs the following visual effects: the resulting animated figures are perceived (a) horizontally flipped, (b) inside the cylinder, and (c) appear to be of different size than the actual cutout object. Here, we explore the unique combination of illusions in this new device. We demonstrate how the geometry of the device leads to a retinal image consistent with a mirrored and distorted image and binocular disparities consistent with the perception of an object inside the cylinder.

Planning of spatially-oriented locomotion following focal brain damage in humans: A pilot study.

Motor impairments in human gait following stroke or focal brain damage are well documented. Here, we investigated whether stroke and/or focal brain damage also affect the navigational component of spatially oriented locomotion. Ten healthy adult participants and ten adult brain-damaged patients had to walk towards distant targets from different starting positions (with vision or blindfolded). No instructions as to which the path to follow were provided to them. We observed very similar geometrical forms of paths across the two groups of participants and across visual conditions. This spatial stereotypy of whole-body displacements was observed following brain damage, even in the most severely impaired (hemiparetic) patients. This contrasted with much more variability at the temporal level. In particular, healthy participants and non-hemiparetic patients varied their walking speed according to curvature changes along the path. On the contrary, the walking speed profiles were not stereotypical and were not systematically constrained by path geometry in hemiparetic patients where it was associated with different stepping behaviors. These observations confirm the dissociation between cognitive and motor aspects of gait recovery post-stroke. The impact of these findings on the understanding of the functional and anatomical organization of spatially-oriented locomotion and for rehabilitation purposes is discussed and contextualized in the light of recent advances in electrophysiological studies.

Robust evaluation of time since awakening using force platform posturography

INTRODUCTION: Sleepiness is responsible for a considerable proportion of traffic accidents. It is thus an important traffic safety issue to find a robust, objective and practical way to estimate the amount of time a person has been awake. To attempt to meet this goal, we investigated the relationship between sleepiness and posture control. METHODS: Subjects were kept awake for 36 hours and posturographic data during quiet standing were collected every two hours by means of a force platform. The standing surface (rigid surface or foam surface) and visual (eyes open or eyes closed) conditions were manipulated. RESULTS: In the more challenging conditions (with foam surface and/or eyes closed), the body sway variables derived from the center of the pressure measurement increased significantly when time since awakening became greater than 21 h in almost all subjects. CONCLUSION: Based on this result, we propose a practical protocol that could robustly assess whether time since awakening was greater than 21 h.

Invariance of locomotor trajectories across visual and gait direction conditions.

We studied the influence of vision (walking with or without vision) and of gait direction (walking forward or backward) on goal-oriented locomotion in humans. Subjects had to walk, in a free environment, from a given position and orientation towards a distant arrow which constrained their final position and orientation. We found that the average trajectories were mostly similar across the tested conditions, which suggests that locomotor trajectories are generated at a high cognitive level and, to some extent, independently of the detailed sensory and motor implementation levels. The variability profiles around the average trajectories were similar across the gait direction conditions but differed greatly across the visual conditions, indicating the existence of motor-independent and vision-dependent control mechanisms. Taken together, our observations argue further in favour of a top-down implementation of goal-oriented locomotion, where the control of locomotion is specified at the level of whole-body trajectories and then implemented through specific motor strategies.

How synchronization protects from noise.

THE FUNCTIONAL ROLE OF SYNCHRONIZATION HAS ATTRACTED MUCH INTEREST AND DEBATE: in particular, synchronization may allow distant sites in the brain to communicate and cooperate with each other, and therefore may play a role in temporal binding, in attention or in sensory-motor integration mechanisms. In this article, we study another role for synchronization: the so-called "collective enhancement of precision". We argue, in a full nonlinear dynamical context, that synchronization may help protect interconnected neurons from the influence of random perturbations-intrinsic neuronal noise-which affect all neurons in the nervous system. More precisely, our main contribution is a mathematical proof that, under specific, quantified conditions, the impact of noise on individual interconnected systems and on their spatial mean can essentially be cancelled through synchronization. This property then allows reliable computations to be carried out even in the presence of significant noise (as experimentally found e.g., in retinal ganglion cells in primates). This in turn is key to obtaining meaningful downstream signals, whether in terms of precisely-timed interaction (temporal coding), population coding, or frequency coding. Similar concepts may be applicable to questions of noise and variability in systems biology.

On the open-loop and feedback processes that underlie the formation of trajectories during visual and nonvisual locomotion in humans.

We investigated the nature of the control mechanisms at work during goal-oriented locomotion. In particular, we tested the effects of vision, locomotor speed, and the presence of via points on the geometric and kinematic properties of locomotor trajectories. We first observed that the average trajectories recorded in visual and nonvisual locomotion were highly comparable, suggesting the existence of vision-independent processes underlying the formation of locomotor trajectories. Then by analyzing and comparing the variability around the average trajectories across different experimental conditions, we were able to demonstrate the existence of on-line feedback control in both visual and nonvisual locomotion and to clarify the relations between visual and nonvisual control strategies. Based on these insights, we designed a model in which maximum-smoothness and optimal feedback control principles account, respectively, for the open-loop and feedback processes. Taken together, the experimental and modeling findings provide a novel understanding of the nature of the motor, sensory, and "navigational" processes underlying goal-oriented locomotion.

The formation of trajectories during goal-oriented locomotion in humans. I. A stereotyped behaviour.

Human locomotion was investigated in a goal-oriented task where subjects had to walk to and through a doorway starting from a fixed position and orientation in space. The door was located at different positions and orientations in space, resulting in a total of 40 targets. While no specific constraint was provided to subjects in terms of the path they were to follow or the expected walking speeds, all of them generated very similar trajectories in terms of both path geometry and velocity profiles. These results are reminiscent of the stereotyped properties of the hand trajectories observed in arm reaching movements in studies over the last 20 years. This observation supports the hypothesis that common constraining mechanisms govern the generation of segmental and whole-body trajectories. In contrast, we observed that the subjects placed their feet at different spatial positions across repetitions, making unlikely the hypothesis that goal-oriented locomotion is planned as a succession of steps. Rather, our results suggest that common planning and/or control strategies underlie the formation of the whole locomotor trajectory during a spatially oriented task.

The formation of trajectories during goal-oriented locomotion in humans. II. A maximum smoothness model.

Despite the theoretically infinite number of possible trajectories a human may take to reach a distant doorway, we observed that locomotor trajectories corresponding to this task were actually stereotyped, both at the geometric and the kinematic levels. In this paper, we propose a computational model for the formation of human locomotor trajectories. Our model is adapted from smoothness maximization models that have been studied in the context of hand trajectory generation. The trajectories predicted by our model are very similar to the experimentally recorded ones. We discuss the theoretical implications of this result in the context of movement planning and control in humans. In particular, this result supports the hypothesis that common principles, such as smoothness maximization, may govern the generation of very different types of movements (in this case, hand movements and whole-body movements).

Stable concurrent synchronization in dynamic system networks.

In a network of dynamical systems, concurrent synchronization is a regime where multiple groups of fully synchronized elements coexist. In the brain, concurrent synchronization may occur at several scales, with multiple "rhythms" interacting and functional assemblies combining neural oscillators of many different types. Mathematically, stable concurrent synchronization corresponds to convergence to a flow-invariant linear subspace of the global state space. We derive a general condition for such convergence to occur globally and exponentially. We also show that, under mild conditions, global convergence to a concurrently synchronized regime is preserved under basic system combinations such as negative feedback or hierarchies, so that stable concurrently synchronized aggregates of arbitrary size can be constructed. Robustnesss of stable concurrent synchronization to variations in individual dynamics is also quantified. Simple applications of these results to classical questions in systems neuroscience and robotics are discussed.