1. Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk Mike Brady Research Symposium From Oxford AGVs to Human-Centred Robotics

2. Introduction 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 2 1950s 1980s 2000s 4 th stage Human-centred environments 3 rd stage Unstructured environments 2 nd stage Structured environments Human’s dream of replicating themselves Industrial Robots Field Robots 1920s Service Robots Oxford AGV Project 1 st stage Imaginary world

3. Oxford AGV Project (1988-1997) Tracked vehicleRobuterTurtleLICAR1OxNav Key issues: Multi-sensor integration Sensor-based control Autonomous navigation & mapping Toward unstructured environments 16 September 2010 3 Prof. H. Hu, School of CSEE, University of Essex, U.K. Funded by EPSRC GR/E42416 - £230K (1988-91) GR/G37361- £270K (1991-94) GR/K39844 - £350K (1994-97) plus other grants (Hugh & Penny) Video

4.  To operate in human-centred environments that are not structured in any way for robots. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 4 Human-Centred Robotics  To communicate intelligently with human users to know their needs.  To be adaptive, compliant, fail safe.  To be easily used by general public who have no knowledge on robots & programming (elderly & disabled). Honda Asimo, 2001 Robotics is the intelligent connection of perception to action (M. Brady)

5. Intelligent Appliance Intelligent Home/ Office/Building Intelligent Transportation System Intelligent Health Care System Intelligent Personal Assistant Internet & Wireless Security Robots Service Robots 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 5 Typical Applications

6. Industrial Robots in Medical ROBODOC (1992, IBM), based on an IBM scara robot for hip and knee surgeries. Rehabilitation Robot 16 September 2010 6 Prof. H. Hu, School of CSEE, University of Essex, U.K. Da Vinci Surgical Robot Da Vinci Surgical Robot video Encoders & Force sensors

7. Dextrous Hand for Service Robots 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 7 A high-speed robot hand (Komuro’s Lab at Univ. of Tokyo) performs impressive acts of dexterity & skillful manipulation (2009). EU-FP7-DEXMART-2009 Shadow C6M Dextrous Hand (20 motors) IIT Dextrous Hand for the iCub robot (22 DOFs, extremely compact, & light 0.5Kg)

8. Field Robots for Military 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 8 Two robots made by Boston Dynamics BigDog robot RHex robot

9. Robotic Fish built at Essex 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 9 G8 – Robotic Fish G5 – Robotic fishG4 – Robotic fish G6 – Robotic fish G9 – Robotic fishG14 – Robotic fish Funded by London Aquarium

10. EU FP7 ICT Project – SHOAL 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 10 Testing at De Gijon Port, Spain Referred from NMRI, Japan Sensor networks A shoal of robotic fish will  function in collaboration,  monitor pollution in a port, and  map pollution levels & its position.

11. Robotic Swarm for Environmental Monitoring 06 August 2015 Prof. H. Hu, School of CSEE, University of Essex, U.K. Video 11  For optimal coverage of an environmental variable for pollution monitoring.  Control of real and simulated agents using a combination of bacteria controller and flocking controller.  Architecture and system design for the System.

12. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 12 Head gesture based control Voice based control Hands-free Control of Wheelchair

13. EMG based control of a wheelchair at Essex 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 13 CyberLink - small wearable headband with 3 bio-sensors. EMG – band pass 70- 1000Hz. eyebrow tension EOG – band pass 0.2- 3Hz. Video 1 Funded by The Royal Society & Royal Academy of Engineering Video 2

14. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 14 Brain Actuated Control Biosemi, Netherlands A/D Conversion & amplifier Feature Extraction Translation Algorithm Device Commands www.biosemi.com Feature Selection Algorithm Selection Communication Control 16-CH A/D Amplifiers Headcap-64 Electrodes Video Funded by EPSRC; Partner: Oxford University (Steve Roberts)

15. Multi-sensor Perception 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 15  People are tracked using a multi- sensor solution, i.e. the camera for face detection The SICK laser scanner for legs detection  Three recognition modalities are integrated height clothes face recognition People tracking with service robots

16. Bank of Filters for Joint People Tracking & Identification 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 16

17. Experiment 1- Tracking 1 Person 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 17

18. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 18 Multiple Targets Data association problem data association Different persons Different readings State estimation person A State estimation person B AB face / legs of A face / legs of B

19. Experiment 2 – Tracking 3 people 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 19 Lux for University Open Day

20. Conclusion 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 20  Opportunity: Robot in every home - a personal robot era is coming. Like PC & Mobile phone, we will enjoy these new robots (wearable, portable, implantable, pervasive).

21. Future Challenges 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 21  Multi-modality human-machine interaction  How to effectively conquer home environments.  Memory & Machine Consciousness  Incremental Learning for life-long adaptation  Interdisciplinary: psychology, medical, neuroscience, sociology, ethics, etc.

22.  Thanks to Mike who led me into the robotics research at Oxford, which was exciting & enjoyable. 16 September 2010 Prof. H. Hu, School of CSEE, University of Essex, U.K. 22 Please see my homepage for more information http://csee.essex.ac.uk/staff/hhu Q & A  Thanks to my colleagues and students at Essex who made contributions to this talk.