Current Research Projects

• Alternative Human-Robot Interface Technologies
• Mitsubishi Electric Research Laboratories' DiamondTouch breaks the normal monitor-keyboard-mouse paradigm; it is capable of uniquely identifying by touch multiple users simultaneously. The board itself is embedded with antennas in the horizontal and vertical directions, forming a grid. The antennas transmit signals, and the capacitive coupling of the user to their own separate receiver allows for unique identification. It can also recognize gesture with respect to surface contact area. The DiamondTouch display is forward projected, and available in two standard sizes: 32" or 42" diagonal.

• Search and Rescue
  • Improved Robot Interfaces for USAR
    • Situation awareness (SA) is critical to successfully operate an unmanned vehicle. Since 2003, we have studied multiple systems designed for USAR. We have both designed evaluation methods and produced design guidelines for HRI.
  • Variable Geometry Tracked Vehicle (VGTV)
    • The VGTV is a tele-operated, tethered robot. It is capable of changing its shape, depth rated to 100 feet, and equipped with a color zoom camera, two-way audio, and lights. Sensors and small equipment can be carried by the VGTV into search areas. Our VGTV was used in Biloxi, Mississippi after Hurricane Katrina by Florida Task Force Three. Rescuers were able to search unsafe structures and experience a first person view from the robot.

• SLAM
  • Stereo Vision SLAM for a Robotic Wheelchair
    • The intended application of this research is to implement stereo vision and SLAM to create a map while the robotic wheelchair is navigating in its environment. The vision based mapping is one component of the assisted navigation system being developed for the wheelchair.
  • 3D-Slam
  • This project aims to implement 3D Simultaneous Localization and Mapping on the VGTV Xtreme robot. A scanning laser range finder (Hokuyo URG-04LX) will be mounted on the tilt-head of the robot. External and internal accelerometers on the robot will be coupled with the range finder readings to feed the SLAM algorithm.

• Computer Vision
  • Phission
    • Phission is a concurrent cross-platform, multiple language vision system software development kit (SDK). The SDK constructs a processing sub-system for computer vision applications. Phission abstracts low-level image capture and display primitives, which allows researchers to focus on their primary work.

• Assistive Technology
• MANUS ARM (Assistive Robotic Manipulator)
  • Our vision-based system draws inspiration from people's innate abilities to see and touch. Because the wheelchair occupant is collocated with the Manus ARM, the occupant's view is the same as a camera mounted over the Manus ARM's shoulder. The occupant "zooms in" on the desired object using progressive quartering of the shoulder view. Our goal is to acquire the object by unfolding the Manus ARM, then reaching toward and grasping the object in a manner emulating human kinematics. This human-in-the-loop control will provide simpler and more effective interaction. The ARM was manufactured by Exact Dynamics.